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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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