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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
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).