Income Taxes - Reconciliation of Provision for Income Taxes at Statutory Rate and Provision (Benefit) for Income Taxes at Effective Tax Rate (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Income tax at federal statutory rate	$ (9,155)	$ (13,350)	$ (22,549)
Increase (decrease) in tax resulting from:
State income tax expense, net of federal tax effect	1,823	658	(5,018)
Nondeductible permanent items	190	1,169	(87)
Accrued legal dispute	5,250
Executive compensation	746	746	4,885
Global intangible low-taxed income		3,055
Foreign rate differential	(344)	(638)	(1,060)
Gain on extinguishment of debt			(2,123)
Research and development tax credits	(749)
Adoption of ASU 2020-06		(70,503)
Tax rate change	(12)	(3)	(1,039)
Adjustment to deferred taxes	(9,425)	1,980	817
Change in valuation allowance	8,246	67,450	23,262
Uncertain tax positions		(423)	165
Nonqualified stock option and performance award shortfall (windfall) upon exercise	7,482	7,745	(9,352)
Other	(344)	(284)	(480)
Total	$ 3,708	$ (2,398)	$ (12,579)

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Amount of reported income tax expense from difference to expected income tax expense (benefit) computed by applying domestic federal statutory income tax rate to pretax income (loss) from continuing operations, attributable to global intangible low-taxed income (GILTI).

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