Income Taxes - Additional Information (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	$ 152,200,000
Unrecognized tax benefit	$ 13,583,000	$ 10,638,000	$ 7,422,000	$ 4,877,000
Unrecognized tax benefits, if recognized, would reduce effective tax rate	1.20%
Interest and penalties expense related to uncertain tax positions	$ 500,000
Federal
Income Taxes [Line Items]
Net operating loss carryforwards	$ 487,000,000
Net operating loss carryforwards expiration beginning year	2036
Tax credit carryforwards	$ 400,000
Federal | Research Tax Credit Carryforward
Income Taxes [Line Items]
Net operating loss carryforwards expiration beginning year	2036
State
Income Taxes [Line Items]
Net operating loss carryforwards	$ 415,400,000
Net operating loss carryforwards expiration beginning year	2031
Tax credit carryforwards	$ 21,400,000
Foreign | Swiss Federal Tax Administration (FTA)
Income Taxes [Line Items]
Net operating loss carryforwards	10,700,000
Foreign | Australian Taxation Office
Income Taxes [Line Items]
Net operating loss carryforwards	$ 19,400,000