Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Accrued Expenses and Other Current Liabilities
Accrued professional services	$ 1,761	$ 1,409
Accrued royalties	1,372	815
Accrued tax liabilities	1,716	172
Other accrued expenses	1,823	2,737
Total accrued expenses and other current liabilities	$ 6,672	$ 5,133