Income Taxes - Effective Income Tax Rate Reconciliation (Details)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Effective Income Tax Rate Reconciliation, Percent [Abstract]
Statutory federal income tax rate	(21.00%)	(21.00%)	(21.00%)
Change in valuation allowance	15.80%	13.10%	11.40%
Foreign and U.S. tax rate differential	9.00%	6.70%	7.80%
Tax exempt loss of foreign subsidiary	4.50%	0.60%	2.40%
Other, net	2.80%	0.30%	0.70%
Effective tax rate	11.10%	(0.30%)	1.30%