Income Taxes - Narrative (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Operating Loss Carryforwards [Line Items]
Income tax (benefit) provision	$ 17	$ (2,560)	$ 206
Valuation allowance	120,197	109,876	94,117	$ 95,042
Increase (decrease) based on tax positions in prior period	0	1,101	3,504
Unrecognized Tax Benefits that Would Impact Effective Tax Rate	300
Unrecognized Tax Benefits	4,570	4,570	5,237	$ 7,640
Net Operating Loss Or Tax Credit Carryforward
Operating Loss Carryforwards [Line Items]
Unrecognized Tax Benefits	3,400	$ 3,400	3,300
Federal
Operating Loss Carryforwards [Line Items]
Net operating loss carryforwards	338,500
Operating loss carryforwards, subject to expiration	248,200
Deferred Tax Assets, Operating Loss Carryforwards, Not Subject to Expiration	90,300
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	260,900
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