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Income Taxes - Additional Information (Details) - USD ($) $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Operating Loss Carryforwards [Line Items] |  |  |  |
Effective tax rate (percent) | (3.00%) | (0.50%) | (0.90%) |
Tax expense attributable to the change in valuation allowance | $ 27,300 |  |  |
Favorable tax benefits for research credits | 10,300 |  |  |
Federal NOL carryforwards subject to expiration | 24,400 |  |  |
Capitalized research and development costs | 35,047 | $ 29,991 |  |
Operating loss carryforwards, state, tax effected | 17,000 | 14,800 |  |
Valuation allowance | 161,966 | 132,581 |  |
Unrecognized tax benefits | 6,484 | 4,488 | $ 3,089 | $ 2,277
Unrecognized tax benefits that would affect effective tax rate if recognized | 0 | 0 |  |
Domestic Tax Authority |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Operating loss carryforwards | 295,900 | 237,700 |  |
Federal NOL carryforwards not subject to expiration | 271,500 |  |  |
Federal tax credit carryforwards | 27,200 | 19,300 |  |
State and Local Jurisdiction |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Operating loss carryforwards | 306,800 | 256,300 |  |
Foreign Tax Authority |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Operating loss carryforwards | 21,800 | 18,700 |  |
Foreign Tax Authority | Switzerland |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Operating loss carryforwards | 192,300 | $ 163,400 |  |
Valuation allowance | 21,800 |  |  |
Foreign Tax Authority | Switzerland | Tax Year 2016 |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Expired operating loss carryforwards | $ 1,100 |  |  |

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