Income Taxes - Schedule of Income (Loss) Before Income Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Domestic	$ (210,547)	$ (219,586)	$ (272,995)
Foreign	32,685	28,853	25,019
Loss before income taxes	$ (177,862)	$ (190,733)	$ (247,976)