Income Taxes (Details Textual) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Jan. 01, 2022
Income Tax Examination [Line Items]
Change in deferred tax asset valuation allowance	$ 9,077,000	$ (38,073,000)	$ (8,262,000)
Additional Income Taxes (Textual) [Abstract]
United States statutory federal income tax rate	21.00%
Valuation allowance, deferred tax assets	$ (79,162,000)	(70,085,000)	(108,200,000)
Increase (decrease) in valuation allowance on deferred tax assets	9,100,000	(38,100,000)	(8,300,000)
Reasonably possible decrease in unrecognized tax benefits	4,900,000
Effective Income Tax Rate Reconciliation, Prior Year Income Taxes, Amount	14,000,000
Increase (decrease) in unrecognized tax benefits	19,660,000	(2,354,000)	(1,511,000)
Recognition Of Previously Unrecognized Tax Benefits
Additional Income Taxes (Textual) [Abstract]
Increase (decrease) in unrecognized tax benefits	$ 24,800,000
CALIFORNIA
Income Tax Examination [Line Items]
Change in deferred tax asset valuation allowance		$ 68,700,000
MASSACHUSETTS
Income Tax Examination [Line Items]
Change in deferred tax asset valuation allowance			$ 10,500,000