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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