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Significant Accounting Policies - Calculation of Net (Loss) Income and Number of Shares Used to Compute Basic and Diluted Net (Loss) Earnings per Share - Parenthetical - (Details) - $ / shares
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Loss Earnings Per Share [Line Items]        
Net loss per share diluted [1] $ (0.04) $ (0.18) $ (0.08) $ (0.26)
Net loss per share basic [1] (0.04) $ (0.18) (0.08) $ (0.26)
Exclusion of licensing revenue change in estimate        
Loss Earnings Per Share [Line Items]        
Net loss per share diluted (0.06)   (0.1)  
Net loss per share basic $ (0.06)   $ (0.1)  
[1] Excluding the licensing revenue change in estimate, as discussed in Note 8 - Development, Commercialization and Supply Agreements, net loss per share basic and diluted for the three and six months ended June 30, 2023 would have been $(0.06) and $(0.10), respectively.