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Income Taxes - Additional Information (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2018
Operating Loss Carryforwards [Line Items] |  |  |  |
Deferred tax asset, valuation allowance | $ 162,314,000 | $ 127,209,000 |  |
Deferred tax asset, valuation allowance increase (decrease) | $ 35,100,000 | 39,700,000 | $ 14,400,000 |
Number of years cumulative pretax loss | 3 years |  |  |
Unrecognized tax benefits, if recognized, would impact the effective income tax rate | $ 5,600,000 | 14,500,000 | 2,000,000.0 |
Accrued interest and penalties | 40,000.00 | $ 200,000 | $ 0 |
Operating loss carryforwards state | 375,500,000 |  |  |
Operating loss carryforwards federal | 487,900,000 |  |  |
Operating loss carryforwards foreign | 112,900,000 |  |  |
Federal and state net operating loss carryforwards, expiring year |  |  |  | 2042
State research and development tax credit carryforwards | $ 3,200,000 |  |  |
Cumulative change in ownership percentage | 50.00% |  |  |
Period for cumulative change in ownership | 3 years |  |  |
Federal |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Operating losses after December 31, 2017 | $ 358,700,000 |  |  |
State |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Operating losses after December 31, 2017 | $ 74,900,000 |  |  |

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