Income Taxes - Narrative (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Tax Credit Carryforward [Line Items]
Net tax expense on sale of intellectual property rights	$ 6,100,000
Unrecognized tax benefits that would impact tax expense	9,300,000	$ 9,000,000
Uncertain tax positions, interest and penalties	200,000	300,000	$ 400,000
Interest and penalties accrued	200,000	$ 600,000	$ 1,400,000
Internal Revenue Service (IRS)
Tax Credit Carryforward [Line Items]
Net operating loss	10,900,000
Internal Revenue Service (IRS) | Research Tax Credit Carryforward
Tax Credit Carryforward [Line Items]
Tax credit carryforward amount	0
State and Local Jurisdiction
Tax Credit Carryforward [Line Items]
Net operating loss	15,000,000
State and Local Jurisdiction | Research Tax Credit Carryforward
Tax Credit Carryforward [Line Items]
Tax credit carryforward amount	20,000,000
Foreign Tax Authority
Tax Credit Carryforward [Line Items]
Net operating loss	$ 22,200,000