Income Taxes - Summary of Operating Loss Carryforwards (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Federal
Operating Loss Carryforwards [Line Items]
Operating loss carryforward	$ 642,212	$ 651,498
Various states
Operating Loss Carryforwards [Line Items]
Operating loss carryforward	32,234	34,718
Foreign
Operating Loss Carryforwards [Line Items]
Operating loss carryforward	$ 5,363	$ 5,255