Income Tax - Narrative (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Tax Credit Carryforward [Line Items]
Additional valuation allowance	$ 29,300	$ 30,000
Federal and state net operating losses	50,498	33,497
Income tax penalties and interest expense	0
Unrecognized tax benefits	9,800	$ 0	$ 0	$ 0
Domestic Tax Authority
Tax Credit Carryforward [Line Items]
Federal and state net operating losses	194,800
Operating loss carryforwards, carried forward indefinitely	$ 158,700
Domestic Tax Authority | Research Tax Credit Carryforward
Tax Credit Carryforward [Line Items]
R&D amortization period (in years)	5 years
Domestic Tax Authority | Research Tax Credit Carryforward | Internal Revenue Service (IRS)
Tax Credit Carryforward [Line Items]
Tax credit carryforward	$ 27,900
Foreign Tax Authority | Research Tax Credit Carryforward
Tax Credit Carryforward [Line Items]
R&D amortization period (in years)	15 years
State and Local Jurisdiction
Tax Credit Carryforward [Line Items]
Federal and state net operating losses	$ 153,100
State and Local Jurisdiction | Research Tax Credit Carryforward | California Franchise Tax Board
Tax Credit Carryforward [Line Items]
Tax credit carryforward	$ 11,300