Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Income Tax Disclosure [Line Items]
Provision for income taxes	$ 0
Corporate alternative minimum tax on large corporations	15.00%
Excise tax rate on corporate buy-backs	1.00%
Valuation allowance increased (decreased)	$ (9,000,000)	$ 42,800,000
Gross operating loss carryforward	$ 217,900,000
Net operating loss carryforwards, limitations on use	federal NOLs are subject to an annual utilization limitation of $3.1 million, which can be increased in the five year period post change date for any realized built-in gain.
Net operating loss carryforward annual utilization limitation	$ 3,100,000
Tax credit carryforwards	1,961,000	23,216,000
Research credits	$ 27,100,000
United States
Income Tax Disclosure [Line Items]
Research and experimentation expenditures amortized period	5 years
Outside the United States
Income Tax Disclosure [Line Items]
Research and experimentation expenditures amortized period	15 years
Federal
Income Tax Disclosure [Line Items]
Gross operating loss carryforward	$ 222,100,000	216,300,000
Tax credit carryforwards	$ 28,600,000	30,200,000
Tax credit carryforward expiration or due date year	2040
State
Income Tax Disclosure [Line Items]
Gross operating loss carryforward	$ 11,900,000	4,500,000
Tax credit carryforwards	$ 1,200,000	$ 1,300,000