Income Taxes - Narrative (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Operating Loss Carryforwards [Line Items]
Income tax (benefit) provision	$ (2,560)	$ 206	$ (6)
Cumulative Ownership Change, Period	3 years
Reduction of deferred tax assets	$ 12,300	3,200
Valuation allowance	109,876	94,117	95,042	$ 111,193
Increase (decrease) based on tax positions in prior period	1,101	1,100
Unrecognized Tax Benefits that Would Impact Effective Tax Rate	300
Unrecognized Tax Benefits	4,570	5,237	7,640	$ (3)
Net Operating Loss Or Tax Credit Carryforward
Operating Loss Carryforwards [Line Items]
Unrecognized Tax Benefits	3,400	3,300	$ 7,600
Federal
Operating Loss Carryforwards [Line Items]
Net operating loss carryforwards	309,800
Operating loss carryforwards, subject to expiration	248,200
Deferred Tax Assets, Operating Loss Carryforwards, Not Subject to Expiration	61,600
Federal | Research Tax Credit Carryforward
Operating Loss Carryforwards [Line Items]
Research and development tax credit carryforwards	1,100
State and Local Jurisdiction
Operating Loss Carryforwards [Line Items]
Net operating loss carryforwards	242,000
State and Local Jurisdiction | Research Tax Credit Carryforward
Operating Loss Carryforwards [Line Items]
Research and development tax credit carryforwards	11,200
Maximum
Operating Loss Carryforwards [Line Items]
Income tax (benefit) provision		$ (200)
Maximum | Federal
Operating Loss Carryforwards [Line Items]
Operating loss carryforwards, subject to expiration	15,200
Maximum | State and Local Jurisdiction
Operating Loss Carryforwards [Line Items]
Operating loss carryforwards, subject to expiration	$ 500