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Cash, Cash Equivalents, Marketable Securities, and Restricted Cash - Narrative (Details) - USD ($)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Cash, Cash Equivalents, and Short-Term Investments [Abstract]      
Cash and cash equivalents $ 246,994,000 $ 148,813,000 $ 245,197,000
Debt securities, available-for-sale 39,206,000 144,782,000  
Debt securities, realized gain (loss) 0 $ 0  
Fair value of available-for-sale debt securities in unrealized loss positions $ 11,400,000