Income Taxes - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Tax Credit Carryforward
Deferred tax assets, operating loss and tax credit carryforwards	$ 8,000
Valuation allowance	48,516	$ 40,878
Unrecognized tax benefits affecting effective tax rate	16,500	27,100
Interest and penalties associated with unrecognized tax benefits (Operations)	8,700	5,600	$ 2,600
Interest and penalties associated with unrecognized tax benefits (Balance Sheet)	8,600	17,400
State and Local Jurisdiction
Tax Credit Carryforward
Deferred tax assets, operating loss and tax credit carryforwards	59,300
Net operating loss carryforwards	296,405	268,303
Valuation allowance	32,700
Increase in valuation allowance for deferred income tax asset	7,300
Foreign Tax Authority
Tax Credit Carryforward
Foreign tax holiday	$ 13,000	$ 7,200
Foreign tax holiday (per share)	$ 0.09	$ 0.04
Net operating loss carryforwards	$ 9,500
Valuation allowance	7,800
Operating loss carryforward, increase in valuation allowance	300
Wisconsin Research and Development Credit | State and Local Jurisdiction
Tax Credit Carryforward
Net capital loss carryforwards	$ 53,200