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Income Taxes - Narrative (Details) - USD ($) | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022
Operating Loss Carryforwards [Line Items] |  |
Valuation allowance activity | $ 10,100,000 | $ 13,600,000
Employer payroll taxes deferred, CARES Act | 1,400,000 |
Income tax benefit recognized related to uncertain tax positions | 0 | 0
Interest expense related to uncertain tax positions | 0 | 0
Liability related to unrecognized tax benefits | 0 | $ 0
Domestic Tax Authority |  |
Operating Loss Carryforwards [Line Items] |  |
Net operating loss carryforwards | 405,100,000 |
Operating loss carryforwards, not subject to expiration | 106,900,000 |
Research and development tax credit carryforwards | 10,900,000 |
California Franchise Tax Board |  |
Operating Loss Carryforwards [Line Items] |  |
Net operating loss carryforwards | 64,200,000 |
Research and development tax credit carryforwards | 10,900,000 |
Foreign Tax Authority |  |
Operating Loss Carryforwards [Line Items] |  |
Net operating loss carryforwards | $ 25,500,000 |

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