Income Taxes - Differences Between the Company's Effective Tax Rate and the Statutory Tax Rate (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Income tax benefit at federal statutory rate (21% for 2023, 2022 and 2021)	$ (47,328)	$ (51,321)	$ (38,175)
State and local income taxes net of federal tax benefit	(3,477)	(1,816)	(2,288)
Permanent items	3,015	(1,608)	(1,343)
Expiration of attribute carryforwards	0	0	(1,057)
Research and development tax credits	(3,301)	(9,793)	(5,994)
Foreign rate differential	2,255	1,862	1,940
Other	1,656	(5,485)	1,216
Change in valuation allowance	47,490	70,894	47,954
Income tax expense	$ 310	$ 2,733	$ 2,253