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Income Taxes - Narrative (Details) | 12 Months Ended
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Dec. 31, 2023 USD ($) subsidiary | Dec. 31, 2022 USD ($) | Dec. 31, 2021 USD ($)
Income Tax Contingency [Line Items] |  |  |
Provision or benefit from income taxes | $ (26,000) | $ (136,000) | $ 141,000
Increase in valuation primarily due to operation losses | 17,800,000 | 20,600,000 | 16,900,000
Net operating loss carryforwards | 354,500,000 | 328,200,000 |
Net operating loss carryforwards, set to expire if not utilized | 58,400,000 |  |
Tax credit carryforwards, set to expire if not utilized | $ 21,900,000 |  |
Number of domestic subsidiaries | subsidiary | 8 |  |
Unrecognized tax benefits | $ 0 | 0 |
Foreign subsidiaries |  |  |
Income Tax Contingency [Line Items] |  |  |
Provision or benefit from income taxes | 0 | 100,000 | $ 100,000
U.S |  |  |
Income Tax Contingency [Line Items] |  |  |
Tax credit carryforwards | 21,900,000 | 21,900,000 |
State |  |  |
Income Tax Contingency [Line Items] |  |  |
Tax credit carryforwards | $ 1,600,000 | $ 1,600,000 |

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