Income Taxes - Summary of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred income tax assets
Net operating loss carryforwards	$ 160,329	$ 164,242
Business interest limitation carryforwards	35,402	34,445
Tax credit carryforwards	23,968	23,240
Lease liabilities	11,472	15,019
Capitalized research and development costs	50,780	32,216
Other	15,108	30,719
Gross deferred income tax assets	297,059	299,881
Valuation allowance	(257,563)	(245,212)
Total deferred income tax assets, net of valuation allowance	39,496	54,669
Deferred income tax liabilities
Intangible assets	(29,608)	(40,069)
Right-of-use assets	(8,155)	(11,225)
Other	(1,997)	(3,618)
Total deferred income tax liabilities	(39,760)	(54,912)
Net deferred income tax assets and liabilities	$ (264)	$ (243)