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Income Taxes - Additional Information (Details) - USD ($) $ in Millions | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022
Operating Loss Carryforwards [Line Items] |  |
Amortization period | 3 years |
Increase in deferred tax assets | $ 63.2 | $ 37.1
Net operating loss carryforwards, federal | 346.5 |
Net operating loss carryforwards, state | 293.5 |
Unrecognized tax benefits | 5.0 |
Unrecognized tax benefits, interest on income taxes expense | $ 0.2 |
Minimum |  |
Operating Loss Carryforwards [Line Items] |  |
Statue of limitation jurisdictions period | 3 years |
Maximum |  |
Operating Loss Carryforwards [Line Items] |  |
Statue of limitation jurisdictions period | 7 years |
Deferred Tax Assets Operating Loss Carryforwards |  |
Operating Loss Carryforwards [Line Items] |  |
Increase in valuation allowance | $ 1.5 |
Domestic Tax Authority |  |
Operating Loss Carryforwards [Line Items] |  |
Operating loss carryforward not subject to expiration | 332.7 |
Research and development credit carryforwards | 7.2 |
Foreign Tax Authority |  |
Operating Loss Carryforwards [Line Items] |  |
Operating loss carryforward not subject to expiration | 241.6 |
Research and development credit carryforwards | 3.8 |
State and Local Jurisdiction |  |
Operating Loss Carryforwards [Line Items] |  |
Research and development credit carryforwards | $ 3.1 |

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