Terumo Agreement - Deferred revenue (Details) - Collaborative Arrangement - Terumo - USD ($) $ in Thousands	6 Months Ended
Jun. 30, 2023	Jun. 30, 2022
Changes in the Company's deferred revenue balance
Deferred Revenue - December 31, 2022 (in thousands)	$ 19,539	$ 22,401
Revenue recognized	1,747	945
Deferred Revenue - June 30, 2023	$ 17,792	$ 21,456

Amount of obligation to transfer good or service to customer for which consideration has been received or is receivable.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 606
-SubTopic 10
-Name Accounting Standards Codification
-Section 45
-Paragraph 1
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479837/606-10-45-1

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 606
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 8
-Subparagraph (a)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479806/606-10-50-8

Reference 3: http://www.xbrl.org/2003/role/disclosureRef
-Topic 606
-SubTopic 10
-Name Accounting Standards Codification
-Section 45
-Paragraph 2
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479837/606-10-45-2

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Balance Type:	credit
Period Type:	instant