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Income Taxes - Reconciliation of Income Taxes Computed at Federal Statutory Rate and Provision for Income Taxes (Details) | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Income Tax Disclosure [Abstract] |  |  |
Federal statutory rate | 21.00% | 21.00% | 21.00%
State taxes, net of federal benefit | (0.50%) | (0.10%) | (0.10%)
Permanent differences | (0.90%) | (0.20%) | (0.20%)
Stock-based compensation | (7.00%) | (2.40%) | 14.20%
Federal research and development credit | 0.90% | 1.40% | 1.40%
Foreign rate differential | 0.30% | 0.10% | (0.50%)
Change in valuation allowance | (3.20%) | (24.80%) | (36.00%)
Excess officers' compensation | (1.70%) | (3.10%) | (5.90%)
Tax rate change | (3.40%) | 7.80% | 11.20%
Induced conversion expense | (9.50%) | 0.00% | (0.60%)
Tax reserves | (0.10%) | (0.20%) | (3.80%)
Prior year true-ups | 5.20% | (0.30%) | (0.10%)
Capital gain on sale | 0.00% | 0.00% | (7.00%)
Other | (0.80%) | (1.10%) | (1.20%)
Effective income tax rate | 0.30% | (1.90%) | (7.60%)

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- Definition Percentage of current income tax expense (benefit) and deferred income tax expense (benefit) pertaining to continuing operations. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 740 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 12 -Publisher FASB -URI https://asc.fasb.org//1943274/2147482685/740-10-50-12 + Details
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