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Collaborative Arrangements - Acquisition Agreement (Details) - USD ($) $ in Thousands | 1 Months Ended | 12 Months Ended
--- | --- | ---
Jan. 31, 2024 | Dec. 31, 2023 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items] |  |  |  |  |
Revenues |  |  | $ 70,143 | $ 138,590 | $ 104,754
Nestlé Health Science | Acquisition Agreement |  |  |  |  |
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items] |  |  |  |  |
Revenues |  | $ 5,000 |  |  |
Nestlé Health Science | Acquisition Agreement | Subsequent Event |  |  |  |  |
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items] |  |  |  |  |
Collaborative arrangement, upfront fee amount | $ 5,000 |  |  |  |

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