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Income Taxes - Reconciliation of Income Tax Expense (Benefit) at Statutory Federal Tax Rate (Details)	12 Months Ended
	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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