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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%