Revenue Recognition - Schedule of Deferred Revenue Components (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023	Dec. 31, 2023
Defined Benefit Plan Disclosure [Line Items]
Deferred revenues at beginning of period	$ 2,056
Unearned revenue from cash received during the period, excluding amounts recognized as revenue during the period	(398)	$ 605
Balance at end of period	2,463
Deferred revenue, non-current	4,741		$ 4,750
Sanwa Kagaku Kenkyusho Co., Ltd
Defined Benefit Plan Disclosure [Line Items]
Deferred revenues at beginning of period	6,806	8,341
Unearned revenue from cash received during the period, excluding amounts recognized as revenue during the period	576	0
Revenue recognized that was included in deferred revenues	(178)	(605)
Balance at end of period	7,204	7,736
Less deferred revenue, current	(2,463)	(2,121)
Deferred revenue, non-current	$ 4,741	$ 5,615