Income Taxes - Schedule of Reconciliation of Theoretical Tax Expense and Actual Tax Expense (Benefit) (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Loss before taxes, as reported in the consolidated statements of operations	$ (86,918)	$ (110,815)	$ (110,839)
Statutory tax rate	21.00%	21.00%	21.00%
Theoretical tax benefits on the above amount at the US statutory tax rate	$ (18,253)	$ (23,271)	$ (23,276)
Income tax at rate other than the U.S. statutory tax rate	6,954	10,404	(2,621)
Non-deductible expenses including equity based compensation expenses	(3,983)	941	(8,533)
Operating losses and other temporary differences for which valuation allowance was provided	27,291	18,201	41,340
Research and development tax credit	(1,516)	0	0
State tax	(1,780)	(1,301)	(2,945)
Impact of rate change	(3,199)	(207)	(2,568)
Change in tax reserve for uncertain tax positions	7,869	7,785	4,850
Other individually immaterial income tax items	615	1,151	(225)
Income tax expense	$ 13,998	$ 13,703	$ 6,022