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Restructuring, Impairment and Costs of Terminated Program, and Impairment of Goodwill - Narrative (Details) - USD ($) | 1 Months Ended | 3 Months Ended | 12 Months Ended
--- | --- | --- | ---
Jun. 30, 2023 | Apr. 30, 2022 | Mar. 31, 2024 | Mar. 31, 2023 | Dec. 31, 2023
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Non-cash impairment charges |  |  |  | $ 11,500,000 |
Contract termination and other restructuring costs |  |  | $ 975,000 | 912,000 |
Impairment of other property, plant and equipment |  |  |  | 1,700,000 |
Impairment of goodwill |  |  | 0 | $ 76,501,000 |
Mission Bay Facility |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Non-cash impairment charges |  |  | 0 |  |
2022 Restructuring Plan |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Contract termination and other costs included in accrued expenses |  |  | 3,000,000 |  | $ 3,000,000
Measurement Input, Market Participant Subtenant Borrowing Rate |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Operating lease, measurement input |  |  |  | 7.90% |
Employee Severance |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Restructuring, impairment, and costs of terminated program |  |  | 0 | $ 5,483,000 |
Payments during the period |  |  | 196,000 | 3,299,000 |
Employee Severance | 2022 Restructuring Plan |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Workforce termination, percentage |  | 70.00% |  |  |
Restructuring, impairment, and costs of terminated program |  |  | 0 | 0 |
Payments during the period |  |  | 0 | 3,299,000 |
Employee Severance | 2023 Restructuring Plan |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Workforce termination, percentage | 60.00% |  |  |  |
Restructuring, impairment, and costs of terminated program |  |  | 0 | 5,483,000 | $ 7,900,000
Payments during the period |  |  | $ 196,000 | $ 0 |

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