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Income Taxes - Narrative (Details) $ in Millions | 12 Months Ended
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Dec. 31, 2023 USD ($)
Income Tax Disclosure [Line Items] |
Increase in valuation allowance | $ 20.5
Federal |
Income Tax Disclosure [Line Items] |
Net operating loss carryforwards | 479.0
Net operating loss carryforwards, indefinite | 328.8
Federal | Research and development tax credit |
Income Tax Disclosure [Line Items] |
Tax credit carryforwards | 17.8
Foreign |
Income Tax Disclosure [Line Items] |
Tax credit carryforwards | 1.7
State | California |
Income Tax Disclosure [Line Items] |
Net operating loss carryforwards | 92.9
State | California | Research and development tax credit |
Income Tax Disclosure [Line Items] |
Tax credit carryforwards | 8.9
State | California | Minimum tax credit carryforwards |
Income Tax Disclosure [Line Items] |
Tax credit carryforwards | 0.1
State | Other states |
Income Tax Disclosure [Line Items] |
Net operating loss carryforwards | $ 50.5

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