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Income Taxes - Narrative (Details) - USD ($) | May 24, 2022 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
--- | --- | --- | --- | --- | ---
Tax Credit Carryforward [Line Items] |  |  |  |  |
Valuation allowance for deferred tax assets |  | $ 2,588,000 | $ 707,000 |  |
Unrecognized tax benefits |  | 21,918,000 | 19,482,000 | $ 17,692,000 | $ 19,167,000
Undistributed foreign earnings |  | 0 | $ 0 |  |
Domestic Tax Authority |  |  |  |  |
Tax Credit Carryforward [Line Items] |  |  |  |  |
Operating loss carryforwards |  | 46,800,000 |  |  |
Domestic Tax Authority | Research Tax Credit Carryforward |  |  |  |  |
Tax Credit Carryforward [Line Items] |  |  |  |  |
Tax credit carryforwards |  | 38,400,000 |  |  |
State and Local Jurisdiction | California |  |  |  |  |
Tax Credit Carryforward [Line Items] |  |  |  |  |
Operating loss carryforwards |  | 235,800,000 |  |  |
State and Local Jurisdiction | Other States |  |  |  |  |
Tax Credit Carryforward [Line Items] |  |  |  |  |
Operating loss carryforwards |  | 66,800,000 |  |  |
State and Local Jurisdiction | Research Tax Credit Carryforward | California |  |  |  |  |
Tax Credit Carryforward [Line Items] |  |  |  |  |
Tax credit carryforwards |  | $ 24,800,000 |  |  |
Antares Pharma, Inc |  |  |  |  |
Tax Credit Carryforward [Line Items] |  |  |  |  |
Deferred tax liability, increase, from acquisition of intangibles and inventory | $ 119,700,000 |  |  |  |

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