Income Taxes - Narrative (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Contingency [Line Items]
Unrecognized tax benefits	$ 200	$ 200	$ 200	$ 300
Domestic Tax Authority
Income Tax Contingency [Line Items]
Operating loss carryforwards	400,000
Operating loss carryforwards, not subject to expiration	345,900
Deferred Tax Assets, Operating Loss Carryforwards, Subject to Expiration	54,100
Unrecognized tax benefits	200
State and Local Jurisdiction
Income Tax Contingency [Line Items]
Operating loss carryforwards	389,000
Foreign Tax Authority
Income Tax Contingency [Line Items]
Operating loss carryforwards	62,700
Research Tax Credit Carryforward | Domestic Tax Authority
Income Tax Contingency [Line Items]
Tax credit carryforward, amount	6,500
Research Tax Credit Carryforward | State and Local Jurisdiction
Income Tax Contingency [Line Items]
Tax credit carryforward, amount	$ 2,500