Restructuring, Impairment and Related Charges - Schedule of Activity Related to Restructuring Liabilities Associated to Restructuring Initiatives (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Restructuring Cost and Reserve [Line Items]
Restructuring liabilities, balance	$ 6,826	$ 0
Reclassification of final payment obligation related to a manufacturing agreement that was recognized in the prior period (see Note 14)	0	2,185
Restructuring, impairment and related charges	7,926	43,765
Cash payments	(14,697)	(25,232)
Noncash activities	0	(13,892)
Restructuring liabilities, balance	55	6,826
Accounts Payable
Restructuring Cost and Reserve [Line Items]
Restructuring liabilities, balance	896
Restructuring liabilities, balance	48	896
Accrued Compensation and Benefits
Restructuring Cost and Reserve [Line Items]
Restructuring liabilities, balance	41
Restructuring liabilities, balance	0	41
Accrued Research and Development Liabilities
Restructuring Cost and Reserve [Line Items]
Restructuring liabilities, balance	5,889
Restructuring liabilities, balance	$ 7	$ 5,889