Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets
Net operating losses	$ 251,724	$ 210,609
Tax credit carryforward	43,528	36,848
Nonqualifying stock options	29,166	23,885
Operating lease liabilities	25,357	27,199
Deferred revenue	18,874	26,170
Capitalized research and development	42,134	40,957
Other	6,146	5,859
Total deferred tax assets	416,929	371,527
Less: Valuation allowance	(402,424)	(346,578)
Deferred tax assets, net of valuation allowance	14,505	24,949
Deferred tax liabilities
Tangible and intangible assets	(1,281)	(4,897)
Right-of-use assets	(13,224)	(20,052)
Net deferred taxes	$ 0	$ 0