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Summary of Significant Accounting Policies - Additional Information (Details) € in Millions | 3 Months Ended | 12 Months Ended |
--- | --- | --- | ---
Dec. 31, 2022 USD ($) | Dec. 31, 2023 USD ($) lease | Dec. 31, 2022 USD ($) | Dec. 31, 2023 EUR (€) lease
Property, Plant and Equipment [Line Items] |  |  |  |
Cash and cash equivalents | $ 106,745,000 | $ 46,674,000 | $ 106,745,000 |
Number of financial institutions used for cash deposits | lease |  | 2 |  | 2
Depreciation and amortization expense |  | $ 111,000 | 77,000 |
Impairment losses |  | 0 | 0 |
Goodwill impairment | 33,000,000 | 0 | 32,970,000 |
Government R&D assistance amount | $ 2,361,000 | 670,000 | 2,361,000 |
Government assistance, amount |  | $ 3,300,000 | $ 2,600,000 |
Government Assistance, Statement of Income or Comprehensive Income [Extensible Enumeration] |  | Other income (expense), net | Other income (expense), net |
Number of existing operating leases | lease |  | 3 |  | 3
Minimum |  |  |  |
Property, Plant and Equipment [Line Items] |  |  |  |
Estimated useful life (in years) |  | 3 years |  | 3 years
Lease term (in months) |  | 12 months |  | 12 months
Maximum |  |  |  |
Property, Plant and Equipment [Line Items] |  |  |  |
Estimated useful life (in years) |  | 13 years |  | 13 years
Lease term (in months) |  | 60 months |  | 60 months
United States |  |  |  |
Property, Plant and Equipment [Line Items] |  |  |  |
Cash and cash equivalents |  | $ 34,400,000 |  |
United States | Money market funds |  |  |  |
Property, Plant and Equipment [Line Items] |  |  |  |
Investment interest rate |  | 5.20% |  | 5.20%
Germany |  |  |  |
Property, Plant and Equipment [Line Items] |  |  |  |
Cash and cash equivalents |  | $ 10,400,000 |  |
Government R&D assistance amount | € |  |  |  | € 1
Germany | Minimum |  |  |  |
Property, Plant and Equipment [Line Items] |  |  |  |
Investment interest rate |  | 2.00% |  | 2.00%
Germany | Maximum |  |  |  |
Property, Plant and Equipment [Line Items] |  |  |  |
Investment interest rate |  | 3.25% |  | 3.25%
Australia |  |  |  |
Property, Plant and Equipment [Line Items] |  |  |  |
Cash and cash equivalents |  | $ 1,900,000 |  |
Government R&D assistance rate |  | 43.50% |  |

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