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Revenue Recognition - Performance Obligation (Details)
$ in Thousands
Jun. 30, 2023
USD ($)
Disaggregation of Revenue [Line Items]  
Performance obligation $ 20,639
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-07-01  
Disaggregation of Revenue [Line Items]  
Performance obligation $ 10,409
Expected timing of satisfaction, period 6 months
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-01-01  
Disaggregation of Revenue [Line Items]  
Performance obligation $ 9,590
Expected timing of satisfaction, period 1 year
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2025-01-01  
Disaggregation of Revenue [Line Items]  
Performance obligation $ 140
Expected timing of satisfaction, period 1 year
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2026-01-01  
Disaggregation of Revenue [Line Items]  
Performance obligation $ 500
Expected timing of satisfaction, period
Product revenue  
Disaggregation of Revenue [Line Items]  
Performance obligation $ 19,098
Product revenue | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-07-01  
Disaggregation of Revenue [Line Items]  
Performance obligation $ 8,868
Expected timing of satisfaction, period 6 months
Product revenue | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-01-01  
Disaggregation of Revenue [Line Items]  
Performance obligation $ 9,590
Expected timing of satisfaction, period 1 year
Product revenue | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2025-01-01  
Disaggregation of Revenue [Line Items]  
Performance obligation $ 140
Expected timing of satisfaction, period 1 year
Product revenue | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2026-01-01  
Disaggregation of Revenue [Line Items]  
Performance obligation $ 500
Expected timing of satisfaction, period
Research and development revenue  
Disaggregation of Revenue [Line Items]  
Performance obligation $ 1,541
Research and development revenue | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-07-01  
Disaggregation of Revenue [Line Items]  
Performance obligation $ 1,541
Expected timing of satisfaction, period 6 months
Research and development revenue | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-01-01  
Disaggregation of Revenue [Line Items]  
Performance obligation $ 0
Expected timing of satisfaction, period 1 year
Research and development revenue | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2025-01-01  
Disaggregation of Revenue [Line Items]  
Performance obligation $ 0
Expected timing of satisfaction, period 1 year
Research and development revenue | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2026-01-01  
Disaggregation of Revenue [Line Items]  
Performance obligation $ 0
Expected timing of satisfaction, period