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Revenue and Deferred Revenue - Narrative (Details) - USD ($)	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023	Dec. 31, 2023	Dec. 31, 2022	Aug. 31, 2019
Deferred Revenue Arrangement [Line Items]
Deferred revenue	$ 232,000	$ 286,000	$ 232,000	$ 286,000	$ 270,000	$ 133,000
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-07-01
Deferred Revenue Arrangement [Line Items]
Revenue recognized from the remaining performance obligations	$ 200,000		$ 200,000
Remaining performance obligation	87.00%		87.00%
Expected remaining performance obligations	12 months		12 months
Grant and other \| National Institutes of Health
Deferred Revenue Arrangement [Line Items]
Deferred revenue							$ 2,000,000
Revenue recognized	$ 0	$ 500,000	$ 0	$ 800,000