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Commitments and Contingencies - Additional Information (Details) - USD ($) | 3 Months Ended |
--- | --- | ---
Sep. 30, 2023 | Sep. 30, 2022 | Jun. 30, 2023
Loss Contingencies [Line Items] |  |  |
Royalty amount accrued | $ 2,884,000 |  | $ 2,398,000
License agreement | WARF (Wisconsin Alumni Research Foundation) |  |  |
Loss Contingencies [Line Items] |  |  |
Royalty costs | 500 | $ 500 |
Royalty amount accrued | 2,900,000 |  | 2,400,000
Financial Guarantee | Various Customers |  |  |
Loss Contingencies [Line Items] |  |  |
Bank guarantees | $ 1,200,000 |  | $ 1,300,000

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