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Organization and Significant Accounting Policies - Schedule of Prior-year Adjustment - Consolidated Statements of Operations (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Error Corrections and Prior Period Adjustments Restatement [Line Items]      
Income tax provision (benefit) $ (277) $ (716) $ (1,130)
Net loss $ (186,638) $ (151,293) $ (143,032)
Net loss per share, basic $ (1.54) $ (1.46) $ (1.49)
Net loss per share, diluted $ (1.54) $ (1.46) $ (1.49)
As Reported      
Error Corrections and Prior Period Adjustments Restatement [Line Items]      
Income tax provision (benefit)   $ 140 $ 164
Net loss   $ (152,149) $ (144,326)
Net loss per share, basic   $ (1.47) $ (1.5)
Net loss per share, diluted   $ (1.47) $ (1.5)
Adjustment      
Error Corrections and Prior Period Adjustments Restatement [Line Items]      
Income tax provision (benefit)   $ (856) $ (1,294)
Net loss   $ 856 $ 1,294
Net loss per share, basic   $ 0.01 $ 0.01
Net loss per share, diluted   $ 0.01 $ 0.01