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Income Taxes - Narrative (Details) - USD ($) | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Tax Credit Carryforward [Line Items] |  |  |
Net tax expense on sale of intellectual property rights | $ 6,100,000 |  |
Unrecognized tax benefits that would impact tax expense | 9,300,000 | $ 9,000,000 |
Uncertain tax positions, interest and penalties | 200,000 | 300,000 | $ 400,000
Interest and penalties accrued | 200,000 | $ 600,000 | $ 1,400,000
Internal Revenue Service (IRS) |  |  |
Tax Credit Carryforward [Line Items] |  |  |
Net operating loss | 10,900,000 |  |
Internal Revenue Service (IRS) | Research Tax Credit Carryforward |  |  |
Tax Credit Carryforward [Line Items] |  |  |
Tax credit carryforward amount | 0 |  |
State and Local Jurisdiction |  |  |
Tax Credit Carryforward [Line Items] |  |  |
Net operating loss | 15,000,000 |  |
State and Local Jurisdiction | Research Tax Credit Carryforward |  |  |
Tax Credit Carryforward [Line Items] |  |  |
Tax credit carryforward amount | 20,000,000 |  |
Foreign Tax Authority |  |  |
Tax Credit Carryforward [Line Items] |  |  |
Net operating loss | $ 22,200,000 |  |

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- Definition The amount of estimated penalties and interest accrued as of the balance sheet date arising from income tax examinations. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 15 -Subparagraph (c) -URI https://asc.fasb.org/extlink&oid=121826272&loc=d3e32718-109319 + Details
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- Definition Amount of operating loss carryforward, before tax effects, available to reduce future taxable income under enacted tax laws. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 3 -Subparagraph (a) -URI https://asc.fasb.org/extlink&oid=121826272&loc=d3e32559-109319 + Details
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- Definition The amount of the tax credit carryforward, before tax effects, available to reduce future taxable income under enacted tax laws. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 3 -Subparagraph (a) -URI https://asc.fasb.org/extlink&oid=121826272&loc=d3e32559-109319 + Details
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- Definition Amount accrued for interest on an underpayment of income taxes and penalties related to a tax position claimed or expected to be claimed in the tax return. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 15 -Subparagraph (c) -URI https://asc.fasb.org/extlink&oid=121826272&loc=d3e32718-109319 + Details
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- Definition The total amount of unrecognized tax benefits that, if recognized, would affect the effective tax rate. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 15A -Subparagraph (b) -URI https://asc.fasb.org/extlink&oid=121826272&loc=SL6600010-109319 + Details
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