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Income Taxes - Additional Information (Details) - USD ($)
$ in Thousands
 12 Months Ended
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