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Income Taxes - Additional Information (Details) - USD ($)
 3 Months Ended 12 Months Ended
Jun. 30, 2023
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Operating Loss Carryforwards [Line Items]        
Deferred Tax Assets, Tax Credit Carryforwards, Research   $ 59,417,000 $ 60,245,000  
Unrecognized Tax Benefits, Ending Balance   10,903,000 11,235,000 $ 9,631,000
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  
One-time refund amount received $ 6,000,000      
Domestic Tax Authority        
Operating Loss Carryforwards [Line Items]        
Operating Loss Carryforwards, Total   1,300,000,000    
Expiring Operating Loss Carryforwards   $ 542,300,000    
Net operating loss carryforwards expiration year   2024    
Indefinite Operating Loss Carryforwards   $ 755,700,000    
Taxable income limitation percentage for operating loss carryforward   80.00%    
Deferred Tax Assets, Tax Credit Carryforwards, Research   $ 44,600,000    
Research and development credit carryforwards expiration year   2024    
State and Local Jurisdiction        
Operating Loss Carryforwards [Line Items]        
Operating Loss Carryforwards, Total   $ 879,100,000    
Net operating loss carryforwards expiration year   2028    
Deferred Tax Assets, Tax Credit Carryforwards, Research   $ 21,700,000