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Income Taxes - Additional Information (Details) - USD ($) $ in Thousands | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Jan. 01, 2022 | Dec. 31, 2021
Operating Loss Carryforwards [Line Items] |  |  |  |
Deferred tax assets, deferred expense, capitalized research and development costs increase (decrease) |  |  | $ 8,300 |
Valuation allowance, deferred tax asset, increase (decrease), amount | $ 7,500 | $ 12,800 |  |
Unrecognized tax benefits | 1,730 | $ 1,601 |  | $ 1,489
Research Tax Credit Carryforward |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Tax credit carryforward | 10,400 |  |  |
Current Year |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Valuation allowance, deferred tax asset, increase (decrease), amount | 7,000 |  |  |
Valuation allowance, deferred tax liabilities, increase (decrease), amount | 500 |  |  |
Domestic Tax Authority |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Capitalized expenses, amortization period |  |  | 5 years |
Operating loss carryforwards | 155,000 |  |  |
Operating loss carryforwards, limitations on use | 103,300 |  |  |
Operating loss carryforwards amount permanently limited | 226,800 |  |  |
Unrecognized tax benefits | 4,100 |  |  |
Domestic Tax Authority | Research Tax Credit Carryforward |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Tax credit carryforward | 4,100 |  |  |
Foreign Tax Authority |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Capitalized expenses, amortization period |  |  | 15 years |
State and Local Jurisdiction |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Operating loss carryforwards | 150,300 |  |  |
Operating loss carryforwards amount permanently limited | 150,700 |  |  |
Unrecognized tax benefits | 13,200 |  |  |
State and Local Jurisdiction | Research Tax Credit Carryforward |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Tax credit carryforward | $ 13,200 |  |  |

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