Discontinued Operations, Assets Held for Sale and Restructuring - Schedule of Revenues and Expenses Associated with Discontinued Operations (Details) - USD ($)	3 Months Ended		12 Months Ended
	Mar. 31, 2024	Mar. 31, 2023	Dec. 31, 2023
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]
Income (loss) from discontinued operations before taxes	$ 445,000	$ (12,035,000)
Income tax expense - discontinued operations	(10,000)	0
Income (loss) from discontinued operations	435,000	(12,035,000)
Discontinued Operations, Held-for-Sale or Disposed of by Sale
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]
Revenue	0	2,928,000
Cost of product sold	0	(4,679,000)
Research and development	228,000	(5,179,000)
Selling, general and administrative	(37,000)	(5,093,000)
Impairment of inventory	0	0	$ (400,000)
Impairment of prepaid assets and other current assets	0	0
Impairment of property and equipment	0	0	$ (600,000)
Restructuring	254,000	(12,000)
Income (loss) from discontinued operations before taxes	445,000	(12,035,000)
Income tax expense - discontinued operations	(10,000)	0
Income (loss) from discontinued operations	$ 435,000	$ (12,035,000)