Income Taxes - Schedule of NOL Carryforwards (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Operating Loss Carryforwards [Line Items]
Federal and state research and development tax credit and other credit carryforwards	$ 125,200	$ 121,300
Maximum
Operating Loss Carryforwards [Line Items]
Expirations at Various Dates Through:	2038	2038
Federal
Operating Loss Carryforwards [Line Items]
NOL carryforwards:	$ 32,700	$ 30,100
Federal | Maximum
Operating Loss Carryforwards [Line Items]
Expirations at Various Dates Through:	2037	2037
State
Operating Loss Carryforwards [Line Items]
NOL carryforwards:	$ 33,100	$ 22,400
State | Maximum
Operating Loss Carryforwards [Line Items]
Expirations at Various Dates Through:	2043	2043
Foreign
Operating Loss Carryforwards [Line Items]
NOL carryforwards:	$ 42,600	$ 40,100
Foreign | Maximum
Operating Loss Carryforwards [Line Items]
Expirations at Various Dates Through:	2039	2039