Income Taxes - Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Valuation allowance
Deferred tax assets, valuation allowance	$ 177,224	$ 162,018
Net increase in valuation allowance	15,200
Reconciliation of the total amounts of unrecognized tax benefits
Unrecognized tax benefits, if recognized, fully offset with valuation allowance	54,700
Unrecognized tax benefit at the beginning of the period	50,585	45,299
Gross increases-tax positions in current year	4,358	5,650
Gross decreases-tax positions in prior year	(271)	(364)
Unrecognized tax benefit at the end of the period	54,672	50,585	$ 45,299
Additional information on income tax
Interest expense related to uncertain tax positions	$ 0	$ 0	$ 0