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Income Taxes - Additional Information (Details) - USD ($) | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Operating Loss Carryforwards [Line Items] |  |  |
Deferred Tax Assets, Tax Credit Carryforwards, Research | $ 60,245,000 | $ 55,789,000 |
Unrecognized Tax Benefits, Ending Balance | 11,235,000 | $ 9,631,000 | $ 7,406,000
Unrecognized Tax Benefits, Income Tax Penalties and Interest Accrued, Total | $ 0 |  |
Tax cuts and jobs act, capitalize expense of amortized period for domestic expenses | 5 years |  |
Tax cuts and jobs act, capitalize expense of amortized period for foreign expenses | 15 years |  |
Tax cuts and jobs act, increased capitalized research expenses | $ 21,000,000 |  |
Employee Retention Credit |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Expected one-time refund amount | 6,000,000.0 |  |
Domestic Tax Authority |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Operating Loss Carryforwards, Total | 1,300,000,000 |  |
Expiring Operating Loss Carryforwards | $ 542,700,000 |  |
Net operating loss carryforwards expiration year | 2023 |  |
Indefinite Operating Loss Carryforwards | $ 718,200,000 |  |
Taxable income limitation percentage for operating loss carryforward | 80.00% |  |
Deferred Tax Assets, Tax Credit Carryforwards, Research | $ 49,300,000 |  |
Research and development credit carryforwards expiration year | 2023 |  |
State and Local Jurisdiction |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Operating Loss Carryforwards, Total | $ 891,700,000 |  |
Net operating loss carryforwards expiration year | 2028 |  |
Deferred Tax Assets, Tax Credit Carryforwards, Research | $ 22,200,000 |  |

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