Fair Value of Financial Instruments - Schedule of Calculation of Estimated Fair Value of Contingent Consideration Liabilities (Details) - Contingent Consideration Liabilities	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Technology Milestones
Derivative Liability [Abstract]
Milestone liabilities projected year of achievement	2025
Technology Milestones | Minimum
Derivative Liability [Abstract]
Milestone liabilities projected year of achievement		2024
Technology Milestones | Maximum
Derivative Liability [Abstract]
Milestone liabilities projected year of achievement		2025
Product Milestones | Minimum
Derivative Liability [Abstract]
Milestone liabilities projected year of achievement	2025	2025
Product Milestones | Maximum
Derivative Liability [Abstract]
Milestone liabilities projected year of achievement	2031	2030
Discount Rate | Technology Milestones
Derivative Liability [Abstract]
Contingent consideration liability measurement input	0.10	0.10
Discount Rate | Product Milestones
Derivative Liability [Abstract]
Contingent consideration liability measurement input	0.10	0.10
Probability of Achievement | Technology Milestones | Minimum
Derivative Liability [Abstract]
Contingent consideration liability measurement input	0.02	0.05
Probability of Achievement | Technology Milestones | Maximum
Derivative Liability [Abstract]
Contingent consideration liability measurement input	0.05	0.15
Probability of Achievement | Product Milestones | Minimum
Derivative Liability [Abstract]
Contingent consideration liability measurement input	0.01	0.02
Probability of Achievement | Product Milestones | Maximum
Derivative Liability [Abstract]
Contingent consideration liability measurement input	0.02	0.15