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Income Taxes - Effective Tax Rate Reconciliation (Details)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Income Tax Disclosure [Abstract]      
Expected income tax expense at federal statutory rate 21.00% 21.00% 21.00%
State taxes, net of federal benefits 0.40% (0.70%) 0.00%
Foreign tax rate differential 1.00% (5.10%) (0.50%)
Stock-based compensation (6.90%) 282.40% 7.10%
Deferred tax impacts of restructuring 0.00% (9.70%) 6.50%
Other statutorily non-deductible expenses 0.30% (1.10%) (0.30%)
Non-deductible warrant revaluations (0.10%) (20.40%) (3.90%)
Research and development credits (4.70%) 51.00% 4.30%
Uncertain tax positions—prior year positions 0.10% (3.10%) (0.10%)
Uncertain tax positions—current year positions 0.80% (1.00%) (0.20%)
US tax on foreign income, net of allowable credits and deductions 0.70% 0.00% 0.00%
Foreign-derived intangible income deduction (1.90%) 0.00% 0.00%
Other 0.10% 1.30% 0.30%
Change in valuation allowance (6.00%) (331.90%) (32.10%)
Effective tax rate 4.80% (17.30%) 2.10%