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Income Taxes - Reconciliation of Income Tax Expense (Benefit) at Statutory Federal Tax Rate (Details) | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Income Tax Disclosure [Abstract] |  |  |
U.S. statutory rate | 21.00% | 21.00% | 21.00%
Foreign rate differential | 0.60% | 13.20% | 4.80%
State taxes, net of federal benefit | 2.40% | (5.00%) | (9.50%)
Federal and state R&D credits | (5.90%) | (49.40%) | (26.20%)
Stock-based compensation | (3.20%) | (94.80%) | (117.00%)
Extinguishment of debt | 0.00% | 0.00% | (57.50%)
Capital loss carryforward expirations | 0.00% | 0.00% | 52.10%
Non-deductible officers’ compensation | 1.30% | 52.40% | 45.70%
Permanent items | 0.70% | 6.30% | 1.90%
Foreign income taxed in the U.S. | 0.70% | 14.50% | 0.00%
Change in valuation allowance | (10.80%) | 124.40% | 97.90%
Tax rate changes | 0.50% | (30.90%) | 0.00%
Change to prior year R&D credit | (2.80%) | 0.00% | 0.00%
Intercompany transfer of intellectual property | 0.00% | 0.00% | 4.60%
Other | (0.60%) | 1.70% | 0.40%
Effective tax rate | 3.90% | 53.40% | 18.20%

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