Income Taxes - Narrative (Details) - USD ($)	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Contingency [Line Items]
Valuation allowance	$ 426,003,000	$ 361,804,000	$ 256,413,000
Net operating loss carryforwards, no expiration	1,013,900,000
Interest and penalties accrued	0	$ 0
Federal
Income Tax Contingency [Line Items]
Net operating loss carryforwards	1,094,400,000
Net operating loss carryforwards, subject to expiration	80,500,000
Federal | Research Tax Credit Carryforward
Income Tax Contingency [Line Items]
Tax credit carryforward	0
Foreign
Income Tax Contingency [Line Items]
Net operating loss carryforwards	43,400,000
State
Income Tax Contingency [Line Items]
Net operating loss carryforwards, subject to expiration	1,243,700,000
State | Research Tax Credit Carryforward
Income Tax Contingency [Line Items]
Tax credit carryforward	$ 4,200,000