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Income Taxes - Reconciliation of Statutory to Effective Income Tax Rate (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
U.S. federal statutory tax rate	21.00%	21.00%	21.00%
State tax expense	3.80%	4.10%	4.70%
Foreign rate differential	(3.10%)	(3.30%)	(4.10%)
Nondeductible expenses	(0.70%)	(0.30%)	(0.50%)
Foreign tax expense	(0.40%)	0.30%	(0.20%)
Equity compensation	(2.40%)	1.00%	7.00%
Tax credits	9.50%	4.70%	5.00%
Unrecognized tax benefits	(1.80%)	(0.90%)	(0.90%)
Change in tax rate	(0.90%)	0.30%	(1.20%)
Other	0.20%	(0.50%)	(0.10%)
Deferred adjustments	(3.00%)	(0.80%)	0.90%
Change in valuation allowance	(25.20%)	(26.10%)	(32.50%)
Total	(3.00%)	(0.50%)	(0.90%)

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Percentage of domestic federal statutory tax rate applicable to pretax income (loss).

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to tax credits. Including, but not limited to, research credit, foreign tax credit, investment tax credit, and other tax credits.

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