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Income Taxes - Narrative (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Operating Loss Carryforwards [Line Items]      
Income tax expense (benefit) $ (221) $ 94 $ 69
Valuation allowance, increase (released) amount 37,300    
Unrecognized tax benefit that would impact income tax provision 23,200 17,300  
Federal      
Operating Loss Carryforwards [Line Items]      
Operating loss carryforwards 626,400 658,800  
Federal | Research Tax Credit Carryforward      
Operating Loss Carryforwards [Line Items]      
Tax credit carryforward 42,100    
State      
Operating Loss Carryforwards [Line Items]      
Operating loss carryforwards 568,300 $ 528,900  
State | Research Tax Credit Carryforward      
Operating Loss Carryforwards [Line Items]      
Tax credit carryforward 12,200    
Foreign Tax Authority | UNITED KINGDOM      
Operating Loss Carryforwards [Line Items]      
Operating loss carryforwards $ 27,900