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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 | 9 Months Ended
--- | --- | ---
Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022
Loss Earnings Per Share [Line Items] |  |  |  |  |
Net loss per share diluted | [1] | $ (0.05) | $ (0.01) | $ (0.13) | $ (0.27)
Net loss per share basic | [1] | (0.05) | $ (0.01) | (0.13) | $ (0.27)
Exclusion of licensing revenue change in estimate and Medicaid change in estimate |  |  |  |  |
Loss Earnings Per Share [Line Items] |  |  |  |  |
Net loss per share diluted |  | (0.06) |  | (0.19) |
Net loss per share basic |  | $ (0.06) |  | $ (0.19) |
[1] | Excluding the licensing revenue change in estimate and Medicaid change in estimate, both discussed in Note 7 – Revenue Recognition, net loss per share basic and diluted for the three and nine months ended September 30, 2023 would have been $(0.06) and $(0.19), respectively.

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