Revenue and Deferred Revenue - Narrative (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022	Dec. 31, 2022	Dec. 31, 2021	Aug. 31, 2019
Deferred Revenue Arrangement [Line Items]
Deferred revenue	$ 286		$ 286		$ 133	$ 376
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-07-01
Deferred Revenue Arrangement [Line Items]
Revenue recognized from the remaining performance obligations	$ 1,600		$ 1,600
Revenue, remaining performance obligation, percentage	56.00%		56.00%
Expected remaining performance obligations	12 months		12 months
Grant | National Institutes of Health
Deferred Revenue Arrangement [Line Items]
Deferred revenue							$ 1,100
Revenue recognized	$ 500	$ 50	$ 800	$ 64