Revenue - Schedule of Contract Liabilities (Details) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023	Mar. 31, 2023	Dec. 31, 2022
Contract liabilities, current
Deferred revenues from licensing contracts	$ 5,631	$ 4,723
Other contract liabilities	7,798	8,162
Contract liabilities, long-term portion
Deferred revenues from licensing contracts	3,088	3,997
Other contract liabilities	1,395	970
Total contract liabilities	$ 17,912	$ 17,852	$ 8,626	$ 744