Income Taxes - Narrative (Details)	12 Months Ended
	Dec. 31, 2023 USD ($) subsidiary	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)
Income Tax Contingency [Line Items]
Provision or benefit from income taxes	$ (26,000)	$ (136,000)	$ 141,000
Increase in valuation primarily due to operation losses	17,800,000	20,600,000	16,900,000
Net operating loss carryforwards	354,500,000	328,200,000
Net operating loss carryforwards, set to expire if not utilized	58,400,000
Tax credit carryforwards, set to expire if not utilized	$ 21,900,000
Number of domestic subsidiaries | subsidiary	8
Unrecognized tax benefits	$ 0	0
Foreign subsidiaries
Income Tax Contingency [Line Items]
Provision or benefit from income taxes	0	100,000	$ 100,000
U.S
Income Tax Contingency [Line Items]
Tax credit carryforwards	21,900,000	21,900,000
State
Income Tax Contingency [Line Items]
Tax credit carryforwards	$ 1,600,000	$ 1,600,000