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Revenue Recognition - Performance Obligation (Details)
$ in Thousands
Jun. 30, 2024
USD ($)
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-07-01  
Disaggregation of Revenue [Line Items]  
Expected timing of satisfaction, period 6 months
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2025-01-01  
Disaggregation of Revenue [Line Items]  
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]  
Expected timing of satisfaction, period 1 year
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2027-01-01  
Disaggregation of Revenue [Line Items]  
Expected timing of satisfaction, period
Product revenue  
Disaggregation of Revenue [Line Items]  
Performance obligation $ 10,000
Product revenue | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-07-01  
Disaggregation of Revenue [Line Items]  
Performance obligation $ 9,800
Expected timing of satisfaction, period 6 months
Product revenue | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2025-01-01  
Disaggregation of Revenue [Line Items]  
Performance obligation $ 100
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 $ 100
Expected timing of satisfaction, period 1 year
Product revenue | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2027-01-01  
Disaggregation of Revenue [Line Items]  
Performance obligation $ 0
Expected timing of satisfaction, period
Research and development revenue | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-07-01  
Disaggregation of Revenue [Line Items]  
Expected timing of satisfaction, period 6 months
Research and development revenue | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2025-01-01  
Disaggregation of Revenue [Line Items]  
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]  
Expected timing of satisfaction, period 1 year
Research and development revenue | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2027-01-01  
Disaggregation of Revenue [Line Items]  
Expected timing of satisfaction, period