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Revenue - Disaggregated by Type (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Disaggregation of Revenue    
Revenue $ 63,765 $ 59,985
Product sales    
Disaggregation of Revenue    
Revenue 53,123 55,032
Licensing    
Disaggregation of Revenue    
Revenue 7,476 1,937
Royalties    
Disaggregation of Revenue    
Revenue 862 1,414
Revenue recognized in current year due to a change in estimate 100 300
Other revenue    
Disaggregation of Revenue    
Revenue $ 2,304 $ 1,602