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Revenue - Contract Revenue (Details) - USD ($) | 1 Months Ended | 3 Months Ended | 6 Months Ended
--- | --- | --- | ---
May 31, 2023 | Dec. 31, 2022 | Apr. 30, 2021 | Jun. 30, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022
Disaggregation of Revenue [Line Items] |  |  |  |  |  |  |
Revenue recognized during period previously included in deferred revenue |  |  |  | $ 200,000 | $ 500,000 | $ 600,000 | $ 1,000,000
Contract asset |  |  |  | 0 | $ 0 | 0 | $ 0
Spark |  |  |  |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |  |  |  |
Agreement evaluation period |  |  | 24 months |  |  |  |
Spark | Minimum |  |  |  |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |  |  |  |
Agreement termination advance notice period |  |  | 90 days |  |  |  |
Spark | Maximum |  |  |  |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |  |  |  |
Agreement termination advance notice period |  |  | 180 days |  |  |  |
Spark | License |  |  |  |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |  |  |  |
Variable consideration |  |  | $ 3,000,000 |  |  |  |
Extension of term of contract (in months) | 2 months | 2 months |  |  |  |  |
Contract assets, cumulative catch-up adjustments |  | $ (700,000) |  |  |  |  |
Consideration received in collaborative development agreement |  | $ 800,000 |  | $ 200,000 |  | $ 200,000 |
Spark | License | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2021-05-01 |  |  |  |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |  |  |  |
Expected timing of satisfaction |  |  | 2 years |  |  |  |

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