Income Taxes - Schedule of Reconciliation of Statutory Tax Rate to Effective Tax Rate (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Reconciliation of effective income tax rate
Statutory tax rate (as a percent)	12.50%	12.50%	12.50%
Loss before income taxes at statutory rate	$ (20,913)	$ (4,913)	$ (12,067)
Share-based compensation	4,461	7,841	8,972
Foreign rate differential	(2,122)	5,811	7,798
Change in valuation allowance	21,455	(4,537)	11,590
Intercompany amounts	(1,694)	10,707	6,234
Irish rate differential	4,926	1,817	2,511
Uncertain tax positions	602	704	811
Non-deductible lobbying expenses	775	637	683
U.S. state income taxes, net of U.S. federal benefit	598	248	1,298
In-process R&D		2,724	332
Foreign derived intangible income	(10,405)	(3,875)	(3,125)
R&D credit	(7,863)	(8,488)	(11,198)
Other permanent items	1,143	187	485
Total tax (benefit) provision	$ (9,037)	$ 8,863	$ 14,324
Effective tax rate (as a percent)	5.40%	(22.50%)	(14.80%)