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Income Tax - Narrative (Details) - USD ($) $ in Thousands | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Tax Credit Carryforward [Line Items] |  |  |  |
Additional valuation allowance | $ 29,300 | $ 30,000 |  |
Federal and state net operating losses | 50,498 | 33,497 |  |
Income tax penalties and interest expense | 0 |  |  |
Unrecognized tax benefits | 9,800 | $ 0 | $ 0 | $ 0
Domestic Tax Authority |  |  |  |
Tax Credit Carryforward [Line Items] |  |  |  |
Federal and state net operating losses | 194,800 |  |  |
Operating loss carryforwards, carried forward indefinitely | $ 158,700 |  |  |
Domestic Tax Authority | Research Tax Credit Carryforward |  |  |  |
Tax Credit Carryforward [Line Items] |  |  |  |
R&D amortization period (in years) | 5 years |  |  |
Domestic Tax Authority | Research Tax Credit Carryforward | Internal Revenue Service (IRS) |  |  |  |
Tax Credit Carryforward [Line Items] |  |  |  |
Tax credit carryforward | $ 27,900 |  |  |
Foreign Tax Authority | Research Tax Credit Carryforward |  |  |  |
Tax Credit Carryforward [Line Items] |  |  |  |
R&D amortization period (in years) | 15 years |  |  |
State and Local Jurisdiction |  |  |  |
Tax Credit Carryforward [Line Items] |  |  |  |
Federal and state net operating losses | $ 153,100 |  |  |
State and Local Jurisdiction | Research Tax Credit Carryforward | California Franchise Tax Board |  |  |  |
Tax Credit Carryforward [Line Items] |  |  |  |
Tax credit carryforward | $ 11,300 |  |  |

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