Interest Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Other Income and Expenses [Abstract]
Interest expense	$ (1,321)	$ (2,542)	$ (2,195)
Noncash interest expense on nonrecourse liability related to sale of future royalties	(562)	(2,416)	(3,727)
Noncash interest expense on debt	(532)	(2,112)	(17,501)
Total other income (expense)	$ (2,415)	$ (7,070)	$ (23,423)