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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 | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
(Loss) Earnings Per Share [Line Items] |  |  |  |
Net (loss) earnings per share-basic | [1] | $ (0.15) | $ (0.26) | $ 0.02
Net (loss) earnings per share-diluted | [1] | (0.15) | $ (0.26) | $ 0.02
Exclusion of licensing revenue change in estimate and Medicaid change in estimate |  |  |  |
(Loss) Earnings Per Share [Line Items] |  |  |  |
Net (loss) earnings per share-basic |  | (0.21) |  |
Net (loss) earnings per share-diluted |  | $ (0.21) |  |
[1] | Excluding the licensing revenue change in estimate and Medicaid change in estimate, both discussed in Note 12 – Revenue Recognition, net loss per share basic and diluted for the year ended December 31, 2023 would have been $(0.21).

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