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Income Taxes - Narrative (Details) - USD ($)
 12 Months Ended
Dec. 31, 2024
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Taxes [Line Items]        
Deferred tax assets, valuation allowance $ 696,473,000 $ 603,747,000    
Increase in valuation allowance 92,700,000 114,700,000 $ 175,900,000  
Undistributed earnings of foreign subsidiaries 3,700,000      
Unrecognized tax benefits 42,086,000 36,946,000 29,634,000 $ 20,100,000
Unrecognized tax benefits, income tax penalties and interest accrued 0 0 $ 0  
Unrecognized tax benefits, period increase (decrease) 0      
Federal        
Income Taxes [Line Items]        
Net operating loss carryforwards 1,600,000,000 1,400,000,000    
Tax credit carryforwards, research 47,900,000 41,900,000    
Tax credit carryforward, reserve 25,800,000      
Deferred tax assets, valuation allowance   22,600,000    
State        
Income Taxes [Line Items]        
Net operating loss carryforwards 1,400,000,000 1,000,000,000.0    
Tax credit carryforwards, research 29,700,000 26,100,000    
Tax credit carryforward, reserve $ 16,000,000      
Deferred tax assets, valuation allowance   $ 14,000,000