Revenue and Deferred Revenue - Narrative (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Aug. 31, 2019
Deferred Revenue Arrangement [Line Items]
Deferred revenue	$ 270	$ 133	$ 376
Lease revenue from operating lease	$ 100
Lease revenue from sales-type lease		$ 500
Operating Lease, Lease Income, Statement of Income or Comprehensive Income [Extensible Enumeration]	Revenue from Contract with Customer, Excluding Assessed Tax	Revenue from Contract with Customer, Excluding Assessed Tax
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-01-01
Deferred Revenue Arrangement [Line Items]
Revenue recognized from the remaining performance obligations	$ 1,600
Remaining performance obligation	97.00%
Expected remaining performance obligations	12 months
Grant and other | National Institutes of Health
Deferred Revenue Arrangement [Line Items]
Deferred revenue				$ 2,000
Revenue recognized	$ 1,100	$ 300