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Income Taxes - Narrative (Details) - USD ($)
 12 Months Ended
Dec. 31, 2022
May 24, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Tax Credit Carryforward [Line Items]          
Valuation allowance for deferred tax assets $ 707,000   $ 500,000    
Deferred tax liability, increase, from acquisition of intangibles and inventory 119,700,000        
Unrecognized tax Bbenefits 19,482,000   17,692,000 $ 19,167,000 $ 21,483,000
Undistributed foreign earnings 0   $ 0    
Domestic Tax Authority          
Tax Credit Carryforward [Line Items]          
Operating loss Ccarryforwards 31,200,000        
Domestic Tax Authority | Research Tax Credit Carryforward          
Tax Credit Carryforward [Line Items]          
Tax credit carryforwards 30,800,000        
Domestic Tax Authority | Research Tax Credit Carryforward | Antares Pharma, Inc          
Tax Credit Carryforward [Line Items]          
Tax credit carryforwards   $ 7,400,000      
Domestic Tax Authority | General Business Tax Credit Carryforward          
Tax Credit Carryforward [Line Items]          
Tax credit carryforwards 70,000,000        
State and Local Jurisdiction | California          
Tax Credit Carryforward [Line Items]          
Operating loss Ccarryforwards 237,400,000        
State and Local Jurisdiction | Other States          
Tax Credit Carryforward [Line Items]          
Operating loss Ccarryforwards 63,400,000        
State and Local Jurisdiction | Research Tax Credit Carryforward | Antares Pharma, Inc          
Tax Credit Carryforward [Line Items]          
Tax credit carryforwards   $ 720,000      
State and Local Jurisdiction | Research Tax Credit Carryforward | California          
Tax Credit Carryforward [Line Items]          
Tax credit carryforwards $ 17,000,000        
State and Local Jurisdiction | Research Tax Credit Carryforward | MINNESOTA          
Tax Credit Carryforward [Line Items]          
Tax credit carryforwards       $ 700,000