Financial Instruments - Marketable Securities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Cost or Amortized Cost
Cash and cash equivalents, at carrying value	$ 149,759	$ 232,200	$ 571,384
Restricted cash	1,241	2,406	5,244
Estimated Fair Value
Restricted cash	1,241	2,406	5,244
Cash, Cash Equivalents, Restricted Cash
Cash, Cash Equivalents, Restricted Cash, and Restricted Cash Equivalents	151,000	242,246	$ 718,281	$ 945,820
Fair Value, Measurements, Recurring
Cost or Amortized Cost
Restricted cash	1,241	2,406
Cash, cash equivalents, and available-for-sale debt securities, amortized cost	196,141	394,715
Unrealized Gains (Losses)
Unrealized Gains	1	28
Unrealized Losses	(41)	(758)
Estimated Fair Value
Cash and cash equivalents, fair value disclosure	115,276	186,410
Restricted cash	1,241	2,406
Cash, cash equivalents, and available-for-sale debt securities	196,101	393,985
Cash, Cash Equivalents, Restricted Cash
Cash, Cash Equivalents, Restricted Cash, and Restricted Cash Equivalents	151,000	234,606
Short-term Investments
Short-term investments	41,952	122,259
Long-term Investments
Long-term investments	3,149	29,480
U.S. treasury securities | Fair Value, Measurements, Recurring
Cost or Amortized Cost
Debt securities, available-for-sale, amortized cost	13,895	127,130
Unrealized Gains (Losses)
Unrealized Gains	1	28
Unrealized Losses	(27)	(753)
Estimated Fair Value
Debt securities, available for sale, estimated fair value	13,869	126,405
Short-term Investments
Short-term investments	10,720	96,925
Long-term Investments
Long-term investments	3,149	29,480
Agency bonds | Fair Value, Measurements, Recurring
Cost or Amortized Cost
Debt securities, available-for-sale, amortized cost	31,246	25,339
Unrealized Gains (Losses)
Unrealized Gains	0	0
Unrealized Losses	(14)	(5)
Estimated Fair Value
Debt securities, available for sale, estimated fair value	31,232	25,334
Short-term Investments
Short-term investments	31,232	25,334
Long-term Investments
Long-term investments	0	0
Total short-term investments | Fair Value, Measurements, Recurring
Short-term Investments
Short-term investments		122,259
Cash | Fair Value, Measurements, Recurring
Cost or Amortized Cost
Cash and cash equivalents, at carrying value	34,483	53,430
Estimated Fair Value
Cash and cash equivalents, fair value disclosure	34,483	53,430
Cash, Cash Equivalents, Restricted Cash
Cash, Cash Equivalents, Restricted Cash, and Restricted Cash Equivalents	34,483	45,790
Money markets funds | Fair Value, Measurements, Recurring
Cost or Amortized Cost
Cash and cash equivalents, at carrying value	115,276	186,410
Estimated Fair Value
Cash and cash equivalents, fair value disclosure	115,276	186,410
Cash, Cash Equivalents, Restricted Cash
Cash, Cash Equivalents, Restricted Cash, and Restricted Cash Equivalents	$ 115,276	$ 186,410