Income Taxes - Narrative (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Operating Loss Carryforwards [Line Items]
Effective income tax rate	(2.70%)	(2.00%)	(245.20%)
U.S. federal statutory income tax rate	21.00%	21.00%	21.00%
Increase decrease in valuation allowance	$ 11,700,000
Tax credits	7,500,000
Unrecognized tax benefits	0	$ 0
Domestic Tax Authority
Operating Loss Carryforwards [Line Items]
Net operating losses	358,300,000
Net operating losses subject to expiration	202,200,000
Operating losses indefinite lived carryforward	156,100,000
State and Local Jurisdiction
Operating Loss Carryforwards [Line Items]
Net operating losses	13,300,000
Net operating losses subject to expiration	13,300,000
Operating losses indefinite lived carryforward	47,200,000
Foreign Tax Authority | CANADA
Operating Loss Carryforwards [Line Items]
Net operating losses	1,100,000
Foreign Tax Authority | JAPAN
Operating Loss Carryforwards [Line Items]
Net operating losses	5,000,000
Foreign Tax Authority | SPAIN
Operating Loss Carryforwards [Line Items]
Net operating losses	1,300,000
Foreign Tax Authority | UNITED KINGDOM
Operating Loss Carryforwards [Line Items]
Net operating losses	$ 15,900,000