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Income Taxes - Narrative (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Operating Loss Carryforwards [Line Items]    
Loss on discontinued operations $ 9,976 $ 0
Net operating losses 65,905 51,580
R&D credits 9,013 6,672
Net operating losses limited under Section 382   3,200
Less valuation allowance (118,040) (65,134)
Change in the valuation allowance 52,906  
Federal    
Operating Loss Carryforwards [Line Items]    
Net operating losses 276,638 223,961
Federal net operating losses with expiration 24,429  
Federal net operating losses with no expiration 252,209  
State    
Operating Loss Carryforwards [Line Items]    
Net operating losses 156,501 106,644
Foreign    
Operating Loss Carryforwards [Line Items]    
Net operating losses $ 408 $ 1,383