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Income Taxes - Additional Information (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2018
Operating Loss Carryforwards [Line Items] |  |  |  |
Deferred tax asset, valuation allowance | $ 211,454 | $ 167,860 |  |
Deferred tax asset, valuation allowance increase (decrease) | $ 43,600 | 39,400 | $ 41,000 |
Number of years cumulative pretax loss | 3 years |  |  |
Unrecognized tax benefits, if recognized, would impact the effective income tax rate | $ 8,600 | 5,600 | 14,500 |
Accrued interest and penalties | 100 | $ 40 | $ 200 |
Operating loss carryforwards state | 448,300 |  |  |
Operating loss carryforwards federal | 567,300 |  |  |
Operating loss carryforwards foreign | 117,700 |  |  |
Federal and state net operating loss carryforwards, expiring year |  |  |  | 2043
Federal research and development tax credit carryforwards | 5,400 |  |  |
Deferred tax asset interest expense carryovers | 67,200 |  |  |
State research and development tax credit carryforwards | $ 3,500 |  |  |
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 | $ 437,400 |  |  |
Research and development tax credit carryforwards, expiring year | 2042 |  |  |
State |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Operating losses after December 31, 2017 | $ 95,400 |  |  |

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