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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