Income Taxes - Reconciliation of Income Tax Rate (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Effective Income Tax Rate Reconciliation, Amount
Statutory federal tax expense	$ (11,470)	$ (32,140)	$ (3,873)
State tax, net of federal tax benefit	(903)	11,951	(1,524)
Stock-based compensation tax benefit (expense)	(4,392)	271	11,839
Research and development tax credits	4,600	10,907	4,354
Change in valuation allowance	0	154,081	(7,867)
Change in unrecognized tax benefit	(1,380)	(3,438)	(2,177)
Non-deductible expenses	(2,351)	(4,737)	(742)
Other	218	(247)	126
Income tax benefit (expense)	$ (15,678)	$ 136,648	$ 136