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Acquisitions, Licensing and Other Arrangements - Sale of Future Revenue Streams (Details) $ in Thousands |  | 3 Months Ended | 6 Months Ended |
--- | --- | --- | --- | ---
Dec. 21, 2016 USD ($) agreement period | Jun. 30, 2024 USD ($) | Jun. 30, 2023 USD ($) | Jun. 30, 2024 USD ($) | Jun. 30, 2023 USD ($) | Dec. 31, 2023 USD ($)
Licensing and other arrangements |  |  |  |  |  |
Unearned revenue recognized under units-of-revenue method |  |  |  | $ (1,117) | $ (970) |
Revenue recognized under units-of-revenue method |  | $ 629 | $ 533 | 1,119 | 970 |
Unearned revenue recognized under units-of-revenue method, current |  | 2,259 |  | 2,259 |  | $ 2,113
Unearned revenue recognized under units-of-revenue method, noncurrent |  | 5,963 |  | 5,963 |  | 7,228
HealthCare Royalty Partners II, L.P. | Royalty Sale Agreements |  |  |  |  |  |
Licensing and other arrangements |  |  |  |  |  |
Number of agreements | agreement | 2 |  |  |  |  |
Unearned revenue recognized under units-of-revenue method | $ 18,000 |  |  |  |  |
Revenue recognized under units-of-revenue method |  | $ 600 | $ 500 | $ 1,100 | $ 1,000 |
Unearned revenue recognized under units-of-revenue method, current |  |  |  |  |  | 2,100
Unearned revenue recognized under units-of-revenue method, noncurrent |  |  |  |  |  | $ 7,200
HealthCare Royalty Partners II, L.P. | First Royalty Sale Agreement |  |  |  |  |  |
Licensing and other arrangements |  |  |  |  |  |
Cash payment received | 6,500 |  |  |  |  |
Eligible potential additional payments receivable upon achievement of specified net sales milestones in future years | $ 4,000 |  |  |  |  |
Number of milestone periods | period | 3 |  |  |  |  |
HealthCare Royalty Partners II, L.P. | Second Royalty Sale Agreement |  |  |  |  |  |
Licensing and other arrangements |  |  |  |  |  |
Cash payment received | $ 11,500 |  |  |  |  |

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