Income Taxes - Narrative (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Tax Credit Carryforward [Line Items]
Valuation allowance, deferred tax asset, increase (decrease), amount	$ 26,911	$ 23,681
Unrecognized tax benefits	25,193	$ 17,324	$ 9,540
Unrecognized tax benefits that would impact effective tax rate	1,011
Unrecognized tax benefits, income tax penalties and interest expense	2,584
Domestic Tax Authority
Tax Credit Carryforward [Line Items]
Operating loss carryforwards	103,788
State and Local Jurisdiction
Tax Credit Carryforward [Line Items]
Operating loss carryforwards	90,699
Operating loss carryforwards, subject to expiration	73,767
Foreign Tax Authority
Tax Credit Carryforward [Line Items]
Operating loss carryforwards	29,074
Deferred income tax liabilities	$ 441
Israel Tax Authority | Foreign Tax Authority | VSL | Minimum
Tax Credit Carryforward [Line Items]
Tax rate for amount of dividends distributed, other than complete liquidation	10.00%
Israel Tax Authority | Foreign Tax Authority | VSL | Maximum
Tax Credit Carryforward [Line Items]
Tax rate for amount of dividends distributed, other than complete liquidation	25.00%
Retention | Domestic Tax Authority
Tax Credit Carryforward [Line Items]
Tax credit carryforward, amount	$ 5,126