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Income Taxes (Details) - USD ($) $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Operating Loss Carryforwards [Line Items] |  |  |  |
Increase in valuation allowance | $ 85,600 | $ 64,400 | $ 72,400 |
Unrecognized tax benefits | 17,417 | 16,838 | 15,495 | $ 13,243
Unrecognized tax benefits, accrued interest and penalties accrued | 0 | $ 0 | $ 0 |
Federal |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Net operating loss carryforwards | $ 774,900 |  |  |
Net operating loss carryforwards expiration year | 2036 |  |  |
Various states |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Net operating loss carryforwards | $ 128,000 |  |  |
Net operating loss carryforwards expiration year | 2031 |  |  |
Federal research and development | Federal |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Tax credit carryforwards | $ 60,600 |  |  |
Tax credit carryforwards expiration year | 2031 |  |  |
Federal research and development | Various states |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Tax credit carryforwards | $ 26,500 |  |  |

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