Leases - Narrative (Details) $ in Millions	12 Months Ended
	Dec. 31, 2023 USD ($)	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)	Jul. 31, 2020 agreement
Lessee, Lease, Description [Line Items]
Operating lease expense | $	$ 29.7	$ 28.6	$ 24.7
Additional Office Space
Lessee, Lease, Description [Line Items]
Number of lease agreements | agreement				2
San Diego Lease
Lessee, Lease, Description [Line Items]
Lease term (in years)				8 years
Palo Alto Lease
Lessee, Lease, Description [Line Items]
Lease term (in years)				12 years
Renewal term				10 years
Minimum
Lessee, Lease, Description [Line Items]
Lease term (in years)	9 months
Maximum
Lessee, Lease, Description [Line Items]
Lease term (in years)	9 years 6 months