Income Taxes - Additional Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Taxes Disclosure [Line Items]
Income tax provision	$ 0	$ 0
Increase in valuation allowance	9,600	16,300
Net operating loss carryforwards	$ 65,601	68,499
Ownership change plan description	In general, an ownership change, as defined by Section 382, results from transactions increasing the ownership of certain shareholders or public groups in the stock of a corporation by more than 50% over a three-year period.
Unrecognized tax benefits	$ 18,462	9,759	$ 4,040
Intellectual Property
Income Taxes Disclosure [Line Items]
Unrecognized tax benefits	800
California Research And Development
Income Taxes Disclosure [Line Items]
Tax credit carryforward, amount	6,400
Federal and state research and development [Member]
Income Taxes Disclosure [Line Items]
Tax credit carryforward, amount	11,300
Unrecognized tax benefits	17,700
Domestic Tax Authority
Income Taxes Disclosure [Line Items]
Operating loss carryforwards	$ 294,800
Operating loss carryforwards, expiration date	Dec. 31, 2037
Net operating loss carryforwards	$ 7,500
Operating loss carryforwards indefinitely	287,300
State
Income Taxes Disclosure [Line Items]
Operating loss carryforwards	$ 12,100
Operating loss carryforwards, expiration date	Dec. 31, 2035
Foreign Tax Authority
Income Taxes Disclosure [Line Items]
Operating loss carryforwards	$ 16,100
COVID-19
Income Taxes Disclosure [Line Items]
Income tax provision	$ 0	$ 0