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Income Taxes - Additional Information (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2024
Dec. 31, 2023
Dec. 31, 2022
Jan. 01, 2022
Operating Loss Carryforwards [Line Items]        
Deferred tax assets, deferred expense, capitalized research and development costs increase (decrease)       $ 12,300
Valuation allowance, deferred tax asset, increase (decrease), amount $ 5,900 $ 7,500    
Unrecognized tax benefits 2,085 1,730 $ 1,601  
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 5,500      
Valuation allowance, deferred tax liabilities, increase (decrease), amount 400      
Prior 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 Jurisdiction        
Operating Loss Carryforwards [Line Items]        
Capitalized expenses, amortization period       5 years
Operating loss carryforwards 152,500      
Operating loss carryforwards, limitations on use 114,000      
Operating loss carryforwards amount permanently limited 226,800      
Unrecognized tax benefits 5,400      
Domestic Tax Jurisdiction | Research Tax Credit Carryforward        
Operating Loss Carryforwards [Line Items]        
Tax credit carryforward 5,400      
Foreign Tax Jurisdiction        
Operating Loss Carryforwards [Line Items]        
Capitalized expenses, amortization period       15 years
State and Local Jurisdiction        
Operating Loss Carryforwards [Line Items]        
Operating loss carryforwards 162,700      
Operating loss carryforwards amount permanently limited 150,700      
Unrecognized tax benefits 14,200      
State and Local Jurisdiction | Research Tax Credit Carryforward        
Operating Loss Carryforwards [Line Items]        
Tax credit carryforward $ 14,200