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License Revenue - Disaggregation of Revenue (Details) - License revenue - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Disaggregation of Revenue [Line Items]        
Total license revenue $ 406 $ 2,369 $ 1,698 $ 2,369
United Kingdom        
Disaggregation of Revenue [Line Items]        
Total license revenue 346 60 346 60
United States        
Disaggregation of Revenue [Line Items]        
Total license revenue $ 60 $ 2,309 $ 1,352 $ 2,309