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Income Taxes - Reconciliation of Statutory U.S. Federal Rate (Details)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Percent of pre-tax income:
United States federal statutory income tax rate	21.00%	21.00%	21.00%
State taxes, net of federal benefit	1.70%	2.60%	2.00%
Foreign rate differences			(0.30%)
Permanent items	(0.10%)	0.20%	0.40%
Research and development credit	1.80%	2.60%	(4.80%)
Stock based compensation costs	(2.30%)	(1.20%)	1.30%
Other			(0.30%)
Change in valuation allowance	(22.10%)	(25.20%)	(16.70%)
Effective income tax rate			2.60%

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Percentage of current income tax expense (benefit) and deferred income tax expense (benefit) pertaining to continuing operations.

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Percentage of domestic federal statutory tax rate applicable to pretax income (loss).

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to changes in the valuation allowance for deferred tax assets.

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