Income Taxes - Schedule of Gross Operating Loss Carryforwards and Tax Credit Carryforwards (Details) $ in Thousands	Jun. 30, 2023 USD ($)
Federal
Operating loss carryforwards:
Loss carryforwards	$ 40,411
Loss carryforwards, Indefinite	2,182
Foreign
Tax credit carryforwards:
Tax credit carryforwards	26,850
Operating loss carryforwards:
Loss carryforwards	62,719
Loss carryforwards, Indefinite	136,326
State
Tax credit carryforwards:
Tax credit carryforwards	19,203
Tax credit carryforwards, Indefinite	76,968
Operating loss carryforwards:
Loss carryforwards	266,937
Loss carryforwards, Indefinite	32,863
Federal research and development credits | Federal
Tax credit carryforwards:
Tax credit carryforwards	$ 124,892