Legal Settlement Liability - Additional Information (Details) - USD ($) $ in Thousands		12 Months Ended
	Oct. 06, 2020	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Loss Contingencies [Line Items]
Upfront payment	$ 2,000
Royalty payment duration	10 years
Mile stone payment	$ 6,000
Common stock, shares issued (in shares)		130,714,906	135,365,381
Cost of sales related to royalty expense		$ 0	$ 600	$ 3,300
Litigation settlement interest		$ 1,600	2,200	$ 1,700
Settlement liabilities, payment period		10 years
Legal settlement liability, current		$ 2,561	2,163
Patent
Loss Contingencies [Line Items]
Finite-lived intangible asset, average useful life		18 months
Settlement Liability
Loss Contingencies [Line Items]
Legal settlement liability, current		$ 19,000	$ 17,800
BD
Loss Contingencies [Line Items]
Shares offered (in shares)					2,087,545
Common stock
Loss Contingencies [Line Items]
Common stock, shares issued (in shares)					2,087,545