Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Operating Loss Carryforwards [Line Items]
Deferred tax asset, valuation allowance	$ 3,616,000	$ 3,525,000
Indemnification expense	4,943,000	9,554,000	$ 7,121,000
Total liabilities for uncertain tax positions including interest and penalties	5,400,000	8,300,000
Uncertain tax positions	4,099,000	1,480,000	3,658,000	$ 5,292,000
Interest accruals	1,300,000	6,400,000
Penalty accruals	0	400,000
Tax provision benefit/expense	5,045,000	$ 12,629,000	$ 8,952,000
Liabilities, Current
Operating Loss Carryforwards [Line Items]
Total liabilities for uncertain tax positions including interest and penalties	1,300,000
Other Noncurrent Liabilities
Operating Loss Carryforwards [Line Items]
Total liabilities for uncertain tax positions including interest and penalties	3,200,000
Deferred Income Tax Assets, Net
Operating Loss Carryforwards [Line Items]
Total liabilities for uncertain tax positions including interest and penalties	900,000
Federal
Operating Loss Carryforwards [Line Items]
Net operating loss carryovers	297,600,000
Operating loss carryforwards expire	157,900,000
Operating loss carried forward	139,600,000
State Research Credit
Operating Loss Carryforwards [Line Items]
Net operating loss carryovers	12,500,000
Tax credits	2,100,000
Massachusetts | Investment Tax Credit Carryforward
Operating Loss Carryforwards [Line Items]
Tax credits	$ 800,000