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Income Taxes - Additional Information (Details) - USD ($) | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Income Taxes [Line Items] |  |  |  |
Increase in valuation allowance | $ 55,800,000 | $ 49,600,000 |  |
Maturity period for NOLs carryovers | 20 years |  |  |
U.S. federal NOLs | $ 768,200,000 |  |  |
Unrecognized tax benefits | 9,303,000 | 8,117,000 | $ 6,915,000 | $ 3,489,000
Uncertain tax positions | 1,186,000 | 1,202,000 | $ 3,426,000 |
Accrued interest or penalties related to uncertain tax positions | 0 | 0 |  |
Deferred tax asset | 42,134,000 | $ 40,957,000 |  |
Domestic Tax Authority [Member] |  |  |  |
Income Taxes [Line Items] |  |  |  |
U.S. federal NOLs | 192,500,000 |  |  |
U.S. federal tax credits | $ 47,200,000 |  |  |
Tax credit carryforwards expiration year | 2028 |  |  |
NOLs expiration year | 2028 |  |  |

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