Summary of Significant Accounting Policies Basis - Research and Development Expenses (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Accounting Policies [Abstract]
Grants received	$ 295	$ 479	$ 1,016

The amount of compensation earned (contract income) under a research and development arrangement accounted for as a contract to perform research and development for others.

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 730
-SubTopic 20
-Section 50
-Paragraph 3
-URI https://asc.fasb.org/extlink&oid=6420387&loc=d3e23221-108380

Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 730
-SubTopic 20
-Section 50
-Paragraph 1
-Subparagraph (b)
-URI https://asc.fasb.org/extlink&oid=6420387&loc=d3e23199-108380

Name:	us-gaap_ResearchAndDevelopmentArrangementContractToPerformForOthersCompensationEarned
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	duration