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Commitments and Contingencies - Additional Information (Details) |  | 1 Months Ended | 3 Months Ended | 9 Months Ended | 12 Months Ended |  |  |  |  |
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Aug. 29, 2024 USD ($) TradingDay | Apr. 30, 2024 USD ($) | Aug. 31, 2023 | Feb. 28, 2023 | Sep. 30, 2024 USD ($) ft² | Sep. 30, 2023 USD ($) | Sep. 30, 2024 USD ($) ft² | Sep. 30, 2023 USD ($) | Dec. 31, 2023 USD ($) ft² | Dec. 31, 2022 USD ($) | Jun. 30, 2024 USD ($) | Mar. 31, 2024 USD ($) | Jun. 30, 2023 USD ($) | Mar. 31, 2023 USD ($) | Dec. 31, 2021 USD ($)
Loss Contingencies [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Lease description |  |  |  |  |  |  | In February 2023 and August 2023, the Company executed amendments to three of its leases in Natick, Massachusetts and its Hudson, Massachusetts lease, respectively. The amendments were accounted for as a modification of the existing lease agreements, with impacts to the lease term, lease payments, and related lease liability for each of the four leases. |  | In February 2023 and August 2023, the Company executed amendments to three of its leases in Natick, Massachusetts and its Hudson, Massachusetts lease, respectively. The amendments were accounted for as a modification of the existing lease agreements, with impacts to the lease term, lease payments, and related lease liability for each of the four leases. |  |  |  |  |  |
Operating lease assets obtained in exchange for lease obligations |  |  |  |  |  | $ 62,000 | $ 15,000 | $ 936,000 | $ 936,000 | $ 1,677,000 |  |  |  |  |
Lease total area of land | ft² |  |  |  |  | 51,000 |  | 51,000 |  | 51,000 |  |  |  |  |  |
Lessee, operating lease, right to extend |  |  |  |  |  |  | The Company has a right to extend certain of these leases for periods between three and five years. |  | The Company has a right to extend certain of these leases for periods between three and five years. |  |  |  |  |  |
Lessee, operating lease, right to extend [true false] |  |  |  |  |  |  | true |  | true |  |  |  |  |  |
Loss contingency for probable losses |  |  |  |  | $ 0 |  | $ 0 |  | $ 0 | 0 |  |  |  |  |
Reduction to revenues of customer returns |  |  |  |  | 1,200,000 |  | $ 1,200,000 |  |  |  |  |  |  |  |
Stock exchange listing requirements description |  |  |  |  |  |  | On August 12, 2024, we received a letter from the NYSE notifying us that, as of August 8, 2024, for the last 30 consecutive business days, the average closing price of the Company’s common stock was less than $1.00 per share, the minimum average closing bid price required by the continued listing requirements of Rule 802.01C of the NYSE Listed Company Manual. A company can regain compliance with the minimum share price requirement at any time during the six-month cure period if, on the last trading day of any calendar month during the cure period, the company has (i) a closing share price of at least $1.00 and (ii) an average closing share price of at least $1.00 over the 30 trading-day period ending on the last trading day of that month. In the event that at the expiration of the six-month cure period, both a $1.00 closing share price on the last trading day of the cure period and a $1.00 average closing share price over the 30 trading-day period ending on the last trading day of the cure period are not attained, the NYSE will commence suspension and delisting procedures. We intend to monitor the closing bid price of our Common Stock and may, if appropriate, consider available options to regain compliance with the NYSE minimum share price requirement. |  |  |  |  |  |  |  |
Number of consecutive trading day | TradingDay | 30 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders equity |  |  |  |  | $ (64,790,000) | $ (52,756,000) | $ (64,790,000) | $ (52,756,000) | (70,487,000) | $ (32,314,000) | $ (70,582,000) | $ (66,162,000) | $ (71,218,000) | $ (49,657,000) | $ 4,837,000
Natick and Hudson |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Loss Contingencies [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Operating lease assets obtained in exchange for lease obligations |  | $ 100,000 |  |  |  |  |  |  | $ 900,000 |  |  |  |  |  |
Maximum |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Loss Contingencies [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Lessee operating lease expiration period |  |  |  |  |  |  | 2028-03 |  |  |  |  |  |  |  |
Lessee, operating lease, remaining lease term |  |  |  |  | 5 years |  | 5 years |  | 5 years |  |  |  |  |  |
Average market capitalization amount | $ 50,000,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders equity | $ 50,000,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Maximum | Natick and Hudson |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Loss Contingencies [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Lessee operating lease expiration period |  |  | 2028-03 | 2028-03 |  |  |  |  |  |  |  |  |  |  |
Minimum |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Loss Contingencies [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Lessee operating lease expiration period |  |  |  |  |  |  | 2025-03 |  |  |  |  |  |  |  |
Lessee, operating lease, remaining lease term |  |  |  |  | 3 years |  | 3 years |  |  |  |  | 3 years |  |  |
Minimum | Natick and Hudson |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Loss Contingencies [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Lessee operating lease expiration period |  |  | 2024-06 | 2024-06 |  |  |  |  |  |  |  |  |  |  |

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