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Income Taxes - Provision for Income Taxes Reconciliation to Statutory Federal Income Tax Rate (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Federal tax benefit, at statutory rate	$ (14,371)	$ (10,021)	$ (23,192)
State benefit, net of federal benefit	(370)	(148)	(1,285)
Foreign tax rate difference	(259)	(358)	(140)
Valuation allowance against future tax benefits	13,564	6,029	26,410
Gain on sale of foreign subsidiaries	0	3,008	0
Sub-part F income	0	791	0
Loss on conversion of debt	0	0	2,015
Research and development credits	(2,222)	(1,415)	(2,355)
Share-based compensation	1,010	(879)	(1,134)
Non-deductible officers compensation	108	1,449	0
True-up of prior year provisions	2,123	1,681	0
Other	(48)	54	429
(Benefit) Provision for income taxes	$ (465)	$ 191	$ 748

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