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Income Taxes - Additional Information (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Income Tax Contingency [Line Items]    
Current income tax expense, capitalization of research and development $ 1.8  
Unrecognized tax benefits that would impact effective tax rate 0.3  
Federal    
Income Tax Contingency [Line Items]    
Net operating loss carryforwards 1,800.0  
Operating loss carryforwards, subject to expiration 66.1  
Foreign Country    
Income Tax Contingency [Line Items]    
Deferred tax assets, operating loss carryforwards, not subject to expiration 27.1  
State    
Income Tax Contingency [Line Items]    
Net operating loss carryforwards 1,300.0  
Valuation allowances, deferred tax asset, increase 5.0 $ 244.1
Research Credit Carry-forward | Federal    
Income Tax Contingency [Line Items]    
Research credit carryforwards for tax purposes 77.0  
Research Credit Carry-forward | State    
Income Tax Contingency [Line Items]    
Research credit carryforwards for tax purposes $ 49.5