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Income Taxes - Additional Information (Details) - USD ($)
Dec. 31, 2023
Dec. 31, 2022
Income Taxes [Line Items]    
Deferred tax assets, valuation allowance $ 88,900,000 $ 67,000,000
Deferred tax assets 362,600,000 305,900,000
Research and development tax credit carryforwards 55,300,000 108,900,000
Interest accrued 3,100,000 1,200,000
Penalties accrued 2,200,000 $ 400,000
Unrecognized tax benefits that would affect effective tax rate 105,300,000  
State and Local Jurisdiction    
Income Taxes [Line Items]    
Operating loss carryforwards 286,000,000  
Research and development tax credit carryforwards 85,600,000  
Foreign Tax Authority    
Income Taxes [Line Items]    
Operating loss carryforwards 134,300,000  
Federal Tax Authority    
Income Taxes [Line Items]    
Operating loss carryforwards $ 0