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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] |  |  |  |
Operating loss carryforwards, limited to offset taxable income in year utilized, percent | 80.00% |  |  |
Adjustment of deferred tax (asset) liability | $ 25,500 |  |  |
Accrued interest and penalties related to uncertain tax positions | 200 | $ 200 | $ 200 |
Unrecognized tax benefits | 12,561 | $ 11,237 | $ 9,026 | $ 8,625
Unrecognized tax benefits that would affect the effective tax rate if recognized | 6,800 |  |  |
Research Tax Credit | Federal |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Tax credit carryforwards | 27,100 |  |  |
Research Tax Credit | State |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Tax credit carryforwards | 29,400 |  |  |
Federal |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Operating loss carryforwards | $ 21,800 |  |  |
Operating loss carryforwards, carryforward period | 20 years |  |  |
State |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Operating loss carryforwards | $ 63,200 |  |  |

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- Definition Amount of income tax expense (benefit) from continuing operations attributable to an adjustment of a deferred tax liability or asset for enacted changes in tax laws or rates or a change in the tax status of the entity. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 740 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 9 -Subparagraph (g) -Publisher FASB -URI https://asc.fasb.org//1943274/2147482685/740-10-50-9 + Details
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