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Income Taxes - Income Tax Rate Reconciliation (Details) | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Income Tax Disclosure [Abstract] |  |  |
Federal statutory rate | 21.00% | 21.00% | 21.00%
Impact of state taxes | 1.40% | (15.60%) | 0.10%
Foreign operations | 0.00% | (0.20%) | 0.60%
R&D tax credits | (7.40%) |  | (4.80%)
R&D tax credits |  | 1.40% |
Foreign income inclusion | 1.00% | 0.00% | 0.00%
Stock-based compensation | 0.00% | (12.80%) | (4.10%)
Other permanent items | (0.20%) | (0.30%) | 0.60%
Tax true-up | 0.00% | (0.20%) | (0.40%)
Valuation allowance | (4.00%) | (208.30%) | (48.10%)
Net operating loss expiration / attribute expiration | 5.50% | (13.10%) | 37.40%
Base erosion anti-abuse tax | 6.80% | 0.00% | 0.00%
Total | 24.10% | (228.10%) | 2.30%

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