Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Valuation Allowance [Line Items]
Income tax expense	$ 138,000	$ 71,000
Income tax expense related to foreign earnings	100,000	100,000
Valuation allowance	24,281	22,608
Increase in valuation allowance	1,700,000	1,500,000
Gross unrecognized tax benefits	1,381,000	952,000	$ 819,000
Unrecognized tax benefits increase (decrease)	400,000	100,000
Interest and penalties accrued	0
Domestic Tax Authority
Valuation Allowance [Line Items]
Valuation allowance	24,300,000
Operating loss carryforwards	62,400,000
Net operating loss carryforwards, not subject to expiration	27,700,000
Net operating loss carryforwards, subject to expiration	$ 34,700,000
Operating loss carryforward, year	2028
Research and development tax credit carryforwards	$ 2,400,000
Tax credit carryforward, expiration	2024
Amortisation of research and developmental cost	5 years
Domestic Tax Authority | Internal Revenue Service (IRS) | Earliest Tax Year
Valuation Allowance [Line Items]
Open tax year	2008 2009 2010 2011 2012 2013 2014 2015 2016 2017 2018 2019 2020 2021 2022 2023
Foreign Tax Authority
Valuation Allowance [Line Items]
Valuation allowance		$ 22,600,000
Operating loss carryforwards	$ 13,100,000
Amortisation of research and developmental cost	15 years
Foreign Tax Authority | Maximum
Valuation Allowance [Line Items]
Statutes of limitation, period	5 years
State and Local Jurisdiction
Valuation Allowance [Line Items]
Operating loss carryforwards	$ 55,200,000
Operating loss carryforward, year	2028
Research and development tax credit carryforwards	$ 2,400,000
State and Local Jurisdiction | Minimum
Valuation Allowance [Line Items]
Statutes of limitation, period	3 years