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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