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Income Taxes - Additional Information (Details) - USD ($) $ in Thousands | 12 Months Ended |  |  |
--- | --- | --- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Income Tax Contingency [Line Items] |  |  |  |
Valuation allowance | $ 157,595 | $ 111,779 | $ 101,529 | $ 52,676
Accumulated undistributed earnings generated by foreign subsidiaries | 29,700 |  |  |
Unrecognized tax benefits | 23,587 | 19,354 | 8,438 | $ 7,106
Unrecognized tax benefits that would impact the effective income tax rate | $ 9,600 | $ 8,800 | $ 1,700 |
Income tax examination description | With few exceptions, the Company’s 2019 through 2023 tax years are open and subject to potential examination in one or more jurisdictions at December 31, 2023 |  |  |
Unrecognized tax benefits, income tax penalties and interest expense | $ 300 |  |  |
Accrued interest and tax penalties related to unrecognized tax benefits | 400 |  |  |
Federal | Research Tax Credit Carryforward |  |  |  |
Income Tax Contingency [Line Items] |  |  |  |
Tax credit carryforward | 9,451 |  |  |
State | Research Tax Credit Carryforward |  |  |  |
Income Tax Contingency [Line Items] |  |  |  |
Tax credit carryforward | 17,356 |  |  |
Foreign |  |  |  |
Income Tax Contingency [Line Items] |  |  |  |
Valuation allowance | 2,600 |  |  |
Tax credit carryforward | $ 8,114 |  |  |

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