Income Taxes - Narrative (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Taxes [Line Items]
Increase in valuation allowance	$ 114,700,000	$ 175,900,000	$ 188,700,000
Undistributed earnings of foreign subsidiaries	4,700,000
Unrecognized tax benefits	36,946,000	29,634,000	20,100,000	$ 11,269,000
Unrecognized tax benefits, income tax penalties and interest accrued	0	0	$ 0
Unrecognized tax benefits, period increase (decrease)	0
Federal
Income Taxes [Line Items]
Net operating loss carryforwards	1,400,000,000	1,200,000,000
Tax credit carryforwards, research	41,900,000	32,700,000
Tax credit carryforward, reserve	22,600,000
State
Income Taxes [Line Items]
Net operating loss carryforwards	1,000,000,000	900,000,000
Tax credit carryforwards, research	26,100,000	$ 21,800,000
Tax credit carryforward, reserve	$ 14,000,000