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Income Taxes - Additional Information (Details) - USD ($)
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Income Taxes [Line Items]        
Increase in valuation allowance $ 49,600,000 $ 99,500,000    
Maturity period for NOLs carryovers 20 years      
U.S. federal NOLs $ 616,500,000      
Unrecognized tax benefits 8,117,000 6,915,000 $ 3,489,000 $ 2,052,000
Uncertain tax positions 1,202,000 3,426,000 $ 1,437,000  
Accrued interest or penalties related to uncertain tax positions 0 $ 0    
Deferred tax asset 40,957,000      
Domestic Tax Authority [Member]        
Income Taxes [Line Items]        
U.S. federal NOLs 192,500,000      
U.S. federal tax credits $ 39,500,000      
Tax credit carryforwards expiration year 2028      
NOLs expiration year 2028