Related Party Transactions (Details) - USD ($) $ in Thousands	3 Months Ended	9 Months Ended
Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Related Party Transaction [Line Items]
Research and development	$ 28,190	$ 36,744	$ 94,689	$ 127,248
Master Service Agreements \| Related Party
Related Party Transaction [Line Items]
Research and development	$ 404	$ 2,744	$ 5,018	$ 5,863

The costs incurred in a planned search or critical investigation aimed at discovery of new knowledge with the hope that such knowledge will be useful in developing a new product or service, a new process or technique, or in bringing about a significant improvement to an existing product or process; or to translate research findings or other knowledge into a plan or design for a new product or process or for a significant improvement to an existing product or process whether intended for sale or the entity's use, during the reporting period charged to research and development projects, excluding in-process research and development acquired in a business combination consummated during the period. Excludes software research and development, which has a separate concept.

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 730
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 1
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482916/730-10-50-1

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Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration