Income Taxes - Schedule of Effective Income Tax Rate Reconciliation (Details)	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Federal statutory tax rate	21.00%	21.00%	21.00%
State taxes, net of federal benefit	(0.70%)	1.30%	2.80%
Contingent consideration revaluation	1.40%	0.00%	0.00%
Nondeductible expenses	(0.50%)	(0.80%)	(0.20%)
Tax credits (including R&D)	1.50%	1.70%	4.50%
Foreign income tax rate differential	(2.60%)	(0.50%)	0.00%
Expired tax credit	0.00%	0.00%	0.00%
Deferred tax adjustment	0.00%	0.00%	0.60%
Stock based compensation	(1.40%)	(0.70%)	0.40%
Redemption of notes	0.00%	0.00%	(2.90%)
Valuation allowance	(20.50%)	(10.70%)	(19.60%)
Other	(0.10%)	(0.30%)	1.00%
Total	(1.90%)	11.00%	7.60%

Effective Income Tax Rate Reconciliation, Change in Amount of Contingent Consideration, Liability, Percent

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Effective Income Tax Rate Reconciliation, Deferred Tax Adjustment, Percent

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Effective Income Tax Rate Reconciliation, Expired Tax Credit, Percent

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Effective Income Tax Rate Reconciliation, Redemption of Note

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Percentage of current income tax expense (benefit) and deferred income tax expense (benefit) pertaining to continuing operations.

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-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
-SubTopic 10
-Section 50
-Paragraph 12
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Percentage of domestic federal statutory tax rate applicable to pretax income (loss).

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to changes in the valuation allowance for deferred tax assets.

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Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
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-Name Accounting Standards Codification
-Topic 740
-SubTopic 10
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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations applicable to statutory income tax expense (benefit) outside of the country of domicile.

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Percentage of difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying domestic federal statutory income tax rate to pretax income (loss) from continuing operation, attributable to nondeductible expense for share-based payment arrangement.

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations applicable to state and local income tax expense (benefit), net of federal tax expense (benefit).

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to tax credits. Including, but not limited to, research credit, foreign tax credit, investment tax credit, and other tax credits.

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