Income Taxes - Loss Before Provision for Income Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Domestic	$ (206,674)	$ (225,127)	$ (159,632)
Foreign	(19,555)	(19,256)	(22,177)
Loss before income taxes	$ (226,229)	$ (244,383)	$ (181,809)