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Income Taxes - Narrative (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2023
Income Taxes [Line Items]
Valuation allowance	$ 107,893,000	$ 124,124,000
Unrecognized tax benefits, that if recognized would affect effective tax rate		0
Unrecognized tax benefits, decrease resulting from prior period tax positions	$ 1,697,000
Domestic Tax Authority
Income Taxes [Line Items]
Operating loss carryforward		363,500,000
Domestic Tax Authority | Research Tax Credit Carryforward
Income Taxes [Line Items]
Tax credit carryforward		500,000
State and Local Jurisdiction
Income Taxes [Line Items]
Operating loss carryforward		220,400,000
State and Local Jurisdiction | Research Tax Credit Carryforward
Income Taxes [Line Items]
Tax credit carryforward		14,000,000
Foreign Tax Authority
Income Taxes [Line Items]
Operating loss carryforward		36,600,000
Tax credit carryforward		$ 6,900,000

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Income Taxes [Line Items]

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No definition available.

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Amount of deferred tax assets for which it is more likely than not that a tax benefit will not be realized.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 740
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 2
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Amount of operating loss carryforward, before tax effects, available to reduce future taxable income under enacted tax laws.

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-Topic 740
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Amount of decrease in unrecognized tax benefits resulting from tax positions taken in prior period tax returns.

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-Name Accounting Standards Codification
-Section 50
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The total amount of unrecognized tax benefits that, if recognized, would affect the effective tax rate.

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