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Leases - Summary (Details)
$ / shares in Units, $ in Thousands
1 Months Ended 12 Months Ended
Jan. 02, 2018
USD ($)
ft²
$ / shares
shares
Oct. 31, 2022
USD ($)
ft²
Jul. 31, 2022
USD ($)
ft²
Dec. 31, 2023
USD ($)
ft²
Dec. 31, 2022
USD ($)
Leases          
Existence of options to extend lease       true  
Operating lease cost       $ 2,176 $ 2,337
Minimum          
Leases          
Remaining lease term       1 year  
Maximum          
Leases          
Remaining lease term       7 years  
Renewal term       2 years  
Operating Lease in Boston, Massachusetts          
Leases          
Area of facility | ft² 37,500        
Security deposit $ 500        
Fair value of warrants $ 300        
Increase in annualized base rent 2.50%        
Operating Lease in Boston, Massachusetts | Series D Preferred Stock          
Leases          
Number of shares into which warrants may be converted | shares 43,625        
Purchase price, per share | $ / shares $ 5.6351        
Morrisville, North Carolina (New NC Lease)          
Leases          
Area of facility | ft²     13,300    
Lease term     88 months    
Operating lease cost     $ 4,000    
Braunschweig, Germany (New Operating lease Agreement)          
Leases          
Area of facility | ft²   7,500      
Lease term   60 months      
Operating lease cost   $ 400      
Facility Lease in North Carolina          
Leases          
Area of facility | ft²       2,000