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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