Revenue and Deferred Revenue - Narrative (Details) - USD ($)	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022	Dec. 31, 2021	Aug. 31, 2019
Deferred Revenue Arrangement [Line Items]
Deferred revenue	$ 230,000		$ 230,000		$ 133,000	$ 376,000
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-10-01
Deferred Revenue Arrangement [Line Items]
Revenue recognized from the remaining performance obligations	$ 1,400,000		$ 1,400,000
Revenue, remaining performance obligation, percentage	98.00%		98.00%
Expected remaining performance obligations	12 months		12 months
Grant Revenue | National Institutes of Health
Deferred Revenue Arrangement [Line Items]
Deferred revenue							$ 1,100,000
Revenue recognized	$ 200,000	$ 0	$ 900,000	$ 64,000