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Revenue - Grant Income (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended 12 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2021
Disaggregation of Revenue [Line Items]          
Grant income $ 250 $ 250 $ 500 $ 500  
Grant income          
Disaggregation of Revenue [Line Items]          
Grant income         $ 2,000
Period of recognition of grant (in years)         2 years