Summary of Significant Accounting Policies and Use of Estimates - Intangible Assets, Net (Details) - USD ($) $ in Thousands |
3 Months Ended | ||
|---|---|---|---|
Mar. 31, 2024 |
Mar. 31, 2023 |
Dec. 31, 2023 |
|
| Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] | |||
| Intangible assets, net | $ 3,767 | $ 3,867 | |
| Impairments of intangible assets | 0 | $ 0 | |
| Intangible Assets, Milestone Payment | |||
| Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] | |||
| Intangible assets, net | $ 4,000 | ||
| Useful life | 10 years | ||