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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