Income Taxes - Additional Information (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Change in valuation allowance	$ 13,100
Federal net operating loss carry-forwards	213,300	$ 259,600
State net operating loss carry-forwards	65,300	64,500
Foreign net operating loss carry-forwards	$ 1,700	2,300
Federal net operating loss carry-forwards expiration year	2025
State net operating loss carry-forwards expiration year	2028
Foreign net operating loss carry-forwards expiration year	2028
Federal research and development tax credit carry-forwards	$ 3,900	3,900
State research and development tax credit carry-forwards	$ 3,600	3,600
Expiration of federal tax credits	2025
Unrecognized tax benefits	$ 2,302	$ 2,431	$ 2,436

Deferred tax assets operating loss carryforwards federal expiration year.

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Deferred tax assets operating loss carryforwards foreign expiration year.

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Deferred tax assets operating loss carryforwards state expiration year.

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Deferred tax assets tax credit carryforwards research and development federal.

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Deferred tax assets tax credit carryforwards research and development state.

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Tax credit carry forward expiration year.

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Amount before allocation of valuation allowances of deferred tax asset attributable to deductible domestic operating loss carryforwards. Excludes state and local operating loss carryforwards.

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-Publisher FASB
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Amount before allocation of valuation allowances of deferred tax asset attributable to deductible state and local operating loss carryforwards.

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Amount of unrecognized tax benefits.

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Amount of increase (decrease) in the valuation allowance for a specified deferred tax asset.

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