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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.