Property and Equipment, Net - Schedule of Property and Equipment, Net (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Property, Plant and Equipment [Line Items]
Finance lease right-of-use asset	$ 189	$ 189
Property and equipment, gross	45,029	43,783
Less: accumulated depreciation and amortization	(37,935)	(35,927)
Property and equipment, net	7,094	7,856
Laboratory and clean room equipment
Property, Plant and Equipment [Line Items]
Property and equipment, gross	17,551	16,422
Furniture and equipment
Property, Plant and Equipment [Line Items]
Property and equipment, gross	15,255	15,016
Leasehold improvements
Property, Plant and Equipment [Line Items]
Property and equipment, gross	9,418	9,190
Construction in progress
Property, Plant and Equipment [Line Items]
Property and equipment, gross	1,656	1,983
Asset retirement cost
Property, Plant and Equipment [Line Items]
Property and equipment, gross	$ 960	$ 983