Income Taxes - Narrative (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Taxes [Line Items]
Valuation allowance	$ 59,686,000	$ 44,596,000
Increase in valuation allowance	15,100,000	12,100,000
Unrecognized tax benefits including interest and penalties	3,400,000	3,200,000
Interest and penalties	0	0	$ 0
Unrecognized tax benefits that would impact effective tax rate	3,300,000	3,200,000	3,000,000
Deferred tax liability related to state tax liabilities on future distributions	400,000	$ 500,000	$ 900,000
Federal
Income Taxes [Line Items]
Net operating losses	19,800,000
Valuation allowance	34,700,000
State
Income Taxes [Line Items]
Net operating losses	76,700,000
Valuation allowance	22,800,000
Foreign
Income Taxes [Line Items]
Net operating losses	10,300,000
Research and experimentation | Federal
Income Taxes [Line Items]
Income tax credit carryforwards	5,200,000
Research and experimentation | State
Income Taxes [Line Items]
Income tax credit carryforwards	$ 13,500,000