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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