Restructuring, Impairment and Costs of Terminated Program, and Impairment of Goodwill - Narrative (Details) - USD ($)	1 Months Ended		3 Months Ended		12 Months Ended
	Jun. 30, 2023	Apr. 30, 2022	Mar. 31, 2024	Mar. 31, 2023	Dec. 31, 2023
Restructuring Cost and Reserve [Line Items]
Non-cash impairment charges				$ 11,500,000
Contract termination and other restructuring costs			$ 975,000	912,000
Impairment of other property, plant and equipment				1,700,000
Impairment of goodwill			0	$ 76,501,000
Mission Bay Facility
Restructuring Cost and Reserve [Line Items]
Non-cash impairment charges			0
2022 Restructuring Plan
Restructuring Cost and Reserve [Line Items]
Contract termination and other costs included in accrued expenses			3,000,000		$ 3,000,000
Measurement Input, Market Participant Subtenant Borrowing Rate
Restructuring Cost and Reserve [Line Items]
Operating lease, measurement input				7.90%
Employee Severance
Restructuring Cost and Reserve [Line Items]
Restructuring, impairment, and costs of terminated program			0	$ 5,483,000
Payments during the period			196,000	3,299,000
Employee Severance | 2022 Restructuring Plan
Restructuring Cost and Reserve [Line Items]
Workforce termination, percentage		70.00%
Restructuring, impairment, and costs of terminated program			0	0
Payments during the period			0	3,299,000
Employee Severance | 2023 Restructuring Plan
Restructuring Cost and Reserve [Line Items]
Workforce termination, percentage	60.00%
Restructuring, impairment, and costs of terminated program			0	5,483,000	$ 7,900,000
Payments during the period			$ 196,000	$ 0