Income Taxes - Components of Pretax Loss (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
U.S. Domestic	$ (178,313)	$ (146,627)	$ (127,943)
Foreign	(8,602)	(5,382)	(16,219)
Net loss before taxes	$ (186,915)	$ (152,009)	$ (144,162)