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Income Taxes - Provision Difference from Federal Statutory Rate (Details)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2019
Effective tax rate of provision for income taxes difference from federal statutory rate        
Federal statutory income tax rate (as a percent) 21.00% 21.00% 21.00% 35.00%
State taxes, net of federal benefit (as a percent) 8.10% 1.40% 1.90%  
Research and development credits (as a percent) 8.50% 5.90% 4.30%  
Foreign tax rate difference (as a percent) 0.20% 0.20%    
Change in valuation allowance (as a percent) (34.40%) (25.80%) (28.00%)  
Other (as a percent) (3.40%) (2.70%) 0.80%