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Income Taxes - Narrative (Details) - USD ($)
12 Months Ended
Dec. 31, 2024
Dec. 31, 2023
Dec. 31, 2022
Income Taxes [Line Items]      
Increase (release) of valuation allowance $ 700,000    
Valuation allowance 30,571,000 $ 29,908,000  
Research and development credits 53,788,000 58,349,000  
Unrecognized tax benefits 34,638,000 $ 32,449,000 $ 29,215,000
Unrecognized tax benefits that would impact effective tax rate 18,900,000    
Accrued interest or penalties for uncertain income tax 0    
Foreign Tax Jurisdiction      
Income Taxes [Line Items]      
Increase (release) of valuation allowance (600,000)    
U.S. Federal      
Income Taxes [Line Items]      
Operating loss carryforward 23,600,000    
Research and development credits 39,600,000    
California State      
Income Taxes [Line Items]      
Research and development credits 52,500,000    
Other State      
Income Taxes [Line Items]      
Research and development credits $ 2,700,000