Property and Equipment, Net (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Property and Equipment
Total property and equipment	$ 26,445	$ 25,373
Less: accumulated depreciation and amortization	(22,385)	(21,626)
Property and equipment, net	4,060	3,747
Depreciation and amortization expense	3,008	2,896	$ 3,068
Laboratory equipment
Property and Equipment
Total property and equipment	9,848	9,250
Manufacturing equipment
Property and Equipment
Total property and equipment	2,419	2,558
Office furniture and equipment
Property and Equipment
Total property and equipment	3,738	3,454
Leasehold improvements
Property and Equipment
Total property and equipment	9,653	9,613
Construction in progress
Property and Equipment
Total property and equipment	787	498
Property and equipment
Property and Equipment
Depreciation and amortization expense	$ 1,500	$ 1,400	$ 1,600