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Commitments and Contingencies - Additional Information (Details)
 1 Months Ended 3 Months Ended 9 Months Ended 12 Months Ended
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