Commitments and Contingencies - Additional Information (Details) - USD ($)	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Product Liability Contingency [Line Items]
Losses on inventory purchase commitments	$ 0	$ 300,000	$ 0	$ 400,000
Royalty payments			$ 2,100,000
Operating lease expiring term			leases facilities under noncancelable operating leases expiring through 2029
Payments during the six months ending December 31, 2024	1,100,000		$ 1,100,000
Payments in 2025	1,000,000		1,000,000
Payments in 2026	1,900,000		1,900,000
Payments in 2027	1,900,000		1,900,000
Payments in 2028	1,900,000		1,900,000
Thereafter	$ 1,900,000		$ 1,900,000