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Income Taxes - Components of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
--- | --- | --- | --- | ---
Deferred tax assets |  |  |  |
Net operating losses | $ 22,442 | $ 19,477 |  |
Research credits | 10,513 | 6,791 |  |
Foreign tax credits | 5,796 | 2,119 |  |
Accrued expenses | 25,729 | 27,987 |  |
Basis difference in fixed and intangible assets | 38,899 | 16,290 |  |
Deferred revenue | 10,652 | 9,556 |  |
Capitalized R&D | 87,465 | 63,601 |  |
Lease liability | 11,075 | 13,310 |  |
Other tax credits | 2,318 | 1,673 |  |
Gross deferred tax assets | 214,889 | 160,804 |  |
Valuation allowance | (157,595) | (111,779) | $ (101,529) | $ (52,676)
Net deferred tax assets | 57,294 | 49,025 |  |
Deferred tax liabilities |  |  |  |
Acquired intangible assets | (36,416) | (45,424) |  |
Revenue recognition | (4,574) | (2,292) |  |
Operating ROU assets | (9,758) | (10,550) |  |
Other | (8,436) | (1,562) |  |
Gross deferred tax liabilities | (59,184) | (59,828) |  |
Net deferred tax liabilities | $ (1,890) | $ (10,803) |  |

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