Income Taxes - Schedule of NOL Carryforwards (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Operating Loss Carryforwards [Line Items]
Federal and state research and development tax credit and other credit carryforwards	$ 121,300	$ 113,500
Maximum
Operating Loss Carryforwards [Line Items]
Expirations at Various Dates Through:	2037	2037
Federal
Operating Loss Carryforwards [Line Items]
NOL carryforwards:	$ 30,100	$ 44,000
Federal | Maximum
Operating Loss Carryforwards [Line Items]
Expirations at Various Dates Through:	2037	2037
State
Operating Loss Carryforwards [Line Items]
NOL carryforwards:	$ 22,400	$ 15,500
State | Maximum
Operating Loss Carryforwards [Line Items]
Expirations at Various Dates Through:	2042	2042
Foreign
Operating Loss Carryforwards [Line Items]
NOL carryforwards:	$ 40,100	$ 180,100
Foreign | Maximum
Operating Loss Carryforwards [Line Items]
Expirations at Various Dates Through:	2037	2037