Income Taxes - Components of Deferred Tax Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Amortization and depreciation	$ 64,919	$ 64,111
Net operating loss carryforwards	98,702	86,547
Tax credits	15,375	14,411
Stock-based compensation	6,946	5,244
Deferred royalty obligation	4,907	2,577
Other	6,707	4,909
Gross deferred tax assets	197,556	177,799
Valuation allowance	(196,197)	(175,670)
Deferred tax assets net of valuation allowance	1,359	2,129
Deferred tax liabilities:
Right-of-use asset	(1,359)	(2,129)
Other	0	0
Net deferred tax assets	$ 0	$ 0