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Income Taxes - Narrative (Details) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022
Operating Loss Carryforwards [Line Items] |  |
Deferred tax assets | $ 3,766 | $ 3,819
Operating loss carryforwards, not subject to expiration | 69,500 |
Operating loss carryforwards, subject to expiration | $ 333,900 |
Limitation on use of net operating loss, cumulative ownership change, more than | 50.00% |
Limitation on use of net operating loss, cumulative ownership change, period of change (in years) | 3 years |
Unrecognized tax benefits that would impact effective tax rate | $ 500 | 100
Australia and Portugal |  |
Operating Loss Carryforwards [Line Items] |  |
Deferred tax assets | 3,800 |
Federal |  |
Operating Loss Carryforwards [Line Items] |  |
Increase (decrease) in valuation allowance for deferred tax assets | (600) | $ 13,600
Net operating loss carryforwards | 403,400 |
Federal | Research and Development Tax Credit Carryforward |  |
Operating Loss Carryforwards [Line Items] |  |
Research and development credit carryforwards | 12,900 |
State |  |
Operating Loss Carryforwards [Line Items] |  |
Net operating loss carryforwards | 298,600 |
State | Research and Development Tax Credit Carryforward |  |
Operating Loss Carryforwards [Line Items] |  |
Research and development credit carryforwards | 7,500 |
Foreign Tax Authority |  |
Operating Loss Carryforwards [Line Items] |  |
Net operating loss carryforwards | $ 14,000 |

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- Definition Amount, after allocation of valuation allowances and deferred tax liability, of deferred tax asset attributable to deductible differences and carryforwards, without jurisdictional netting. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Topic 740 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Publisher FASB -URI https://asc.fasb.org//1943274/2147482685/740-10-50-2 + Details
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