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Debt - Schedule of convertible notes (Details) |  |  |  |  | 12 Months Ended |  |
--- | --- | --- | --- | --- | --- | --- | ---
Dec. 31, 2023 USD ($) | Dec. 30, 2023 USD ($) | Sep. 30, 2023 USD ($) | Jun. 30, 2023 USD ($) | Dec. 31, 2023 USD ($) shares | Dec. 31, 2022 USD ($) item shares | Mar. 29, 2024 USD ($) | Jan. 31, 2024 USD ($)
Borrowings |  |  |  |  |  |  |  |
Convertible notes, current | $ 27,794,000 |  |  |  | $ 27,794,000 | $ 31,166,000 |  |
Convertible notes, non-current | 6,239,000 |  |  |  | 6,239,000 |  |  |
Convertible notes | 34,033,000 |  |  |  | $ 34,033,000 | 31,166,000 |  |
Amount of debt converted |  |  |  |  |  | 32,500,000 |  |
Amount of unpaid interest converted |  |  |  |  |  | $ 2,600,000 |  |
Number of shares issued on conversion of debt | shares |  |  |  |  |  | 10,026,354 |  |
SG Ace Inc |  |  |  |  |  |  |  |
Borrowings |  |  |  |  |  |  |  |
Debt installments | 4,000,000.0 | $ 4,000,000.0 | $ 3,000,000.0 | $ 2,000,000.0 |  |  |  |
Interest rate (as a percent) |  | 7.50% | 6.50% | 5.50% |  |  |  |
Default interest rate (as a percent) |  |  |  |  | 12.00% |  |  |
SG Ace Inc | Subsequent event |  |  |  |  |  |  |  |
Borrowings |  |  |  |  |  |  |  |
Principal amount |  |  |  |  |  |  | $ 9,000,000.0 |
NA Korea Trans Fund No.4, one (1) institution and eight(8) individual investors |  |  |  |  |  |  |  |
Borrowings |  |  |  |  |  |  |  |
Convertible notes | 61,000 |  |  |  | $ 61,000 |  |  |
Amount of unpaid interest converted |  |  |  |  | $ 11,000 |  |  |
Number of shares issued on conversion of debt | shares |  |  |  |  | 20,681 |  |  |
i Best Investment Co., Ltd. | Subsequent event |  |  |  |  |  |  |  |
Borrowings |  |  |  |  |  |  |  |
Principal amount |  |  |  |  |  |  |  | $ 776,000
M-Venture Investment, Inc. |  |  |  |  |  |  |  |
Borrowings |  |  |  |  |  |  |  |
Convertible debt transferred |  |  |  |  | $ 500,000 |  |  |
GNI Partners Co., Ltd |  |  |  |  |  |  |  |
Borrowings |  |  |  |  |  |  |  |
Convertible notes |  |  |  |  |  | $ 708,000 |  |
Number of shares issued on conversion of debt | shares |  |  |  |  |  | 202,168 |  |
1st convertible note | SG Ace Inc |  |  |  |  |  |  |  |
Borrowings |  |  |  |  |  |  |  |
Convertible notes, current | 7,620,000 |  |  |  | 7,620,000 | $ 8,461,000 |  |
2nd convertible note | M-Venture Investment, Inc. and one (1) institution |  |  |  |  |  |  |  |
Borrowings |  |  |  |  |  |  |  |
Convertible notes, current | 7,620,000 |  |  |  | 7,620,000 | 8,461,000 |  |
7th convertible note | NA Korea Trans Fund No.4, one (1) institution and eight(8) individual investors |  |  |  |  |  |  |  |
Borrowings |  |  |  |  |  |  |  |
Convertible notes, current | 2,198,000 |  |  |  | 2,198,000 | 1,932,000 |  |
16th convertible note | NA Korea Trans Fund No.4 and two (2) individual investors |  |  |  |  |  |  |  |
Borrowings |  |  |  |  |  |  |  |
Convertible notes, current | 387,000 |  |  |  | 387,000 | 330,000 |  |
22nd convertible note | i Best Investment Co., Ltd. |  |  |  |  |  |  |  |
Borrowings |  |  |  |  |  |  |  |
Convertible notes, current | 3,233,000 |  |  |  | 3,233,000 | 2,746,000 |  |
23rd convertible note | Jeju Semiconductor Corp. |  |  |  |  |  |  |  |
Borrowings |  |  |  |  |  |  |  |
Convertible notes, current | 908,000 |  |  |  | 908,000 | 771,000 |  |
24th convertible note | Individual investor |  |  |  |  |  |  |  |
Borrowings |  |  |  |  |  |  |  |
Convertible notes, current | 665,000 |  |  |  | 665,000 | 565,000 |  |
25th convertible note | M-Venture Investment, Inc. |  |  |  |  |  |  |  |
Borrowings |  |  |  |  |  |  |  |
Convertible notes, current |  |  |  |  |  | 3,511,000 |  |
Convertible notes, non-current | 3,614,000 |  |  |  | 3,614,000 |  |  |
26th convertible note | Access Bio, Inc |  |  |  |  |  |  |  |
Borrowings |  |  |  |  |  |  |  |
Convertible notes, current | 5,163,000 |  |  |  | 5,163,000 | 4,389,000 |  |
27th convertible note | Blacktree Co., Ltd |  |  |  |  |  |  |  |
Borrowings |  |  |  |  |  |  |  |
Convertible notes, non-current | $ 2,625,000 |  |  |  | $ 2,625,000 |  |  |
8th convertible note |  |  |  |  |  |  |  |
Borrowings |  |  |  |  |  |  |  |
Convertible notes |  |  |  |  |  | 740,000 |  |
9th convertible note |  |  |  |  |  |  |  |
Borrowings |  |  |  |  |  |  |  |
Convertible notes |  |  |  |  |  | 100,000 |  |
12th convertible note |  |  |  |  |  |  |  |
Borrowings |  |  |  |  |  |  |  |
Convertible notes |  |  |  |  |  | 340,000 |  |
21st convertible note |  |  |  |  |  |  |  |
Borrowings |  |  |  |  |  |  |  |
Convertible notes |  |  |  |  |  | $ 1,000,000 |  |
Number of individual investors exercised early redemption | item |  |  |  |  |  | 1 |  |

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