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Revenue - Disaggregated by Type (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Disaggregation of Revenue    
Revenue $ 14,430 $ 14,846
Product sales    
Disaggregation of Revenue    
Revenue 10,860 13,777
Licensing    
Disaggregation of Revenue    
Revenue 3,221 918
Royalties    
Disaggregation of Revenue    
Revenue 107 93
Other revenue    
Disaggregation of Revenue    
Revenue $ 242 $ 58