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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