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Income Taxes - Additional Information (Details) - USD ($) $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Operating Loss Carryforwards [Line Items] |  |  |  |
Effective tax rate | (0.50%) | (0.90%) | (2.70%) |
Tax expense attributable to the change in valuation allowance | $ 39,200 |  |  |
Favorable excess tax benefits for equity compensation and research credits | 8,600 |  |  |
Federal NOL carryforwards subject to expiration | 16,900 |  |  |
Capitalized research and development costs | 29,991 | $ 0 |  |
Operating loss carryforwards, state, tax effected | 14,800 | 14,100 |  |
Net change in total valuation allowance | 38,200 |  |  |
Valuation allowance | 132,581 | 94,399 |  |
Unrecognized tax benefits | 4,488 | 3,089 | $ 2,277 | $ 1,575
Unrecognized tax benefits that would affect effective tax rate if recognized | 0 | 0 |  |
Switzerland | Tax Year 2015 |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Operating loss carryforwards | (8,100) |  |  |
Domestic Tax Authority |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Operating loss carryforwards | 237,700 | 239,900 |  |
Federal NOL carryforwards not subject to expiration | 220,800 |  |  |
Federal tax credit carryforwards | 19,300 | 13,700 |  |
State and Local Jurisdiction |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Operating loss carryforwards | 256,300 | 249,800 |  |
Foreign Tax Authority | Switzerland |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Operating loss carryforwards | 163,400 | $ 126,600 |  |
Valuation allowance | 18,700 |  |  |
Foreign Tax Authority | Germany |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Valuation allowance | $ (1,100) |  |  |

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