Income Taxes - Narrative (Details) $ in Millions	12 Months Ended
	Dec. 31, 2023 USD ($)
Income Tax Disclosure [Line Items]
Increase in valuation allowance	$ 20.5
Federal
Income Tax Disclosure [Line Items]
Net operating loss carryforwards	479.0
Net operating loss carryforwards, indefinite	328.8
Federal | Research and development tax credit
Income Tax Disclosure [Line Items]
Tax credit carryforwards	17.8
Foreign
Income Tax Disclosure [Line Items]
Tax credit carryforwards	1.7
State | California
Income Tax Disclosure [Line Items]
Net operating loss carryforwards	92.9
State | California | Research and development tax credit
Income Tax Disclosure [Line Items]
Tax credit carryforwards	8.9
State | California | Minimum tax credit carryforwards
Income Tax Disclosure [Line Items]
Tax credit carryforwards	0.1
State | Other states
Income Tax Disclosure [Line Items]
Net operating loss carryforwards	$ 50.5