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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