Organization and Significant Accounting Policies - Schedule of Prior-year Adjustment - Consolidated Statements of Cash Flows (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Net loss	$ (186,638)	$ (151,293)	$ (143,032)
Other long-term liabilities	(6,362)	(3,189)	3,673
Net cash used for operating activities	(78,485)	(75,134)	(73,317)
Effect of exchange rate changes on cash	$ (185)	(366)	(1,404)
As Reported
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Net loss		(152,149)	(144,326)
Other long-term liabilities		(2,342)	4,852
Net cash used for operating activities		(75,143)	(73,432)
Effect of exchange rate changes on cash		(357)	(1,289)
Adjustment
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Net loss		856	1,294
Other long-term liabilities		(847)	(1,179)
Net cash used for operating activities		9	115
Effect of exchange rate changes on cash		$ (9)	$ (115)