Income Taxes - Schedule of Effective Income Tax Rate Reconciliation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Income tax provision at U.S. statutory federal rate	$ (27,721)	$ (11,286)	$ (25,509)
State income tax provision, net of federal income tax effect	(1,216)	(5)	(5,891)
Foreign rate differential	(2,445)	(250)	22
Noncontrolling interest	4,858	1,844	6,764
Change in valuation allowance	19,511	6,728	24,150
Research and other tax credits	0	0	(270)
Section 162(m) addback on executive compensation	565	542	404
GILTI inclusion, net	2,881	1,301	0
Other	(967)	91	3
Total income tax benefit	$ (4,534)	$ (1,035)	$ (327)