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Income Taxes - Narrative (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Taxes Disclosure [Line Items]      
Tax cuts and jobs act, income tax expense (benefit) $ 3,700    
Increased in valuation allowance 166,000 $ 199,200  
Research and development tax credit carryforwards 248,381 230,586  
Unrecognized tax benefits 88,548 88,028 $ 66,150
Unrecognized tax benefits that would impact effective tax rate 5,200    
Unrecognized tax benefits 83,300    
Accrued interest and penalties 1,000 $ 800  
Research and Development Credits      
Income Taxes Disclosure [Line Items]      
Unrecognized tax benefits 71,800    
Federal      
Income Taxes Disclosure [Line Items]      
Net operating loss carryforwards 1,807,300    
Research and development tax credit carryforwards 194,700    
State      
Income Taxes Disclosure [Line Items]      
Net operating loss carryforwards 1,604,000    
Research and development tax credit carryforwards 149,500    
Brazil      
Income Taxes Disclosure [Line Items]      
Net operating loss carryforwards 8,600    
Netherlands      
Income Taxes Disclosure [Line Items]      
Net operating loss carryforwards 47,600    
UK      
Income Taxes Disclosure [Line Items]      
Net operating loss carryforwards 14,000    
International      
Income Taxes Disclosure [Line Items]      
Unrecognized tax benefits $ 16,700