Income Taxes - Narrative (Details) $ in Thousands	Dec. 31, 2023 USD ($) vestingPeriod	Dec. 31, 2022 USD ($) vestingPeriod
Income Tax Disclosure [Line Items]
Valuation allowance	$ 84,053	$ 83,788
Research and development, costs capitalized	$ 12,600	$ 16,600
Number of uncertain tax positions | vestingPeriod	0	0
Employee retention tax credit, refund	$ 1,250
Domestic Tax Authority
Income Tax Disclosure [Line Items]
Operating loss carryforwards	$ 101,029	$ 123,922
Research and development, amortization period (in years)	5 years
State and Local Jurisdiction
Income Tax Disclosure [Line Items]
Operating loss carryforwards	$ 104,478	$ 104,238
Foreign Tax Authority
Income Tax Disclosure [Line Items]
Research and development, amortization period (in years)	15 years