Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Accrued compensation	$ 9,157	$ 5,282
Net operating loss carry-forwards	114,856	106,742
Tax credits	11,076	8,983
Stock-based compensation	2,622	2,797
Operating lease liabilities	18,764	19,248
Interest expense	1,026	2,751
Convertible debt discount	4,319	5,287
Research expenditures	5,234	4,348
Other	3,313	4,529
Gross deferred tax assets	170,367	159,967
Less: valuation allowance	(76,281)	(65,166)
Total deferred tax assets	94,086	94,801
Deferred tax liabilities:
Operating lease right-of-use assets	(18,088)	(18,215)
Intangible assets	(94,004)	(101,886)
Property and equipment	(6,279)	(9,450)
Total deferred tax liabilities	(118,371)	(129,551)
Net deferred income tax liabilities	$ (24,285)	$ (34,750)