Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Taxes [Line Items]
Increase in valuation allowance	$ 55,800,000	$ 49,600,000
Maturity period for NOLs carryovers	20 years
U.S. federal NOLs	$ 768,200,000
Unrecognized tax benefits	9,303,000	8,117,000	$ 6,915,000	$ 3,489,000
Uncertain tax positions	1,186,000	1,202,000	$ 3,426,000
Accrued interest or penalties related to uncertain tax positions	0	0
Deferred tax asset	42,134,000	$ 40,957,000
Domestic Tax Authority [Member]
Income Taxes [Line Items]
U.S. federal NOLs	192,500,000
U.S. federal tax credits	$ 47,200,000
Tax credit carryforwards expiration year	2028
NOLs expiration year	2028