Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2018
Operating Loss Carryforwards [Line Items]
Deferred tax asset, valuation allowance	$ 162,314,000	$ 127,209,000
Deferred tax asset, valuation allowance increase (decrease)	$ 35,100,000	39,700,000	$ 14,400,000
Number of years cumulative pretax loss	3 years
Unrecognized tax benefits, if recognized, would impact the effective income tax rate	$ 5,600,000	14,500,000	2,000,000.0
Accrued interest and penalties	40,000.00	$ 200,000	$ 0
Operating loss carryforwards state	375,500,000
Operating loss carryforwards federal	487,900,000
Operating loss carryforwards foreign	112,900,000
Federal and state net operating loss carryforwards, expiring year				2042
State research and development tax credit carryforwards	$ 3,200,000
Cumulative change in ownership percentage	50.00%
Period for cumulative change in ownership	3 years
Federal
Operating Loss Carryforwards [Line Items]
Operating losses after December 31, 2017	$ 358,700,000
State
Operating Loss Carryforwards [Line Items]
Operating losses after December 31, 2017	$ 74,900,000