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Income Taxes (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2024
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Operating Loss Carryforwards [Line Items]        
Increase and (decrease) Valuation allowance $ (10,600) $ 85,600 $ 64,400  
Unrecognized tax benefits 19,247 17,417 16,838 $ 15,495
Unrecognized tax benefits, accrued interest and penalties accrued 0 0 $ 0  
Net deferred tax liabilities 1,102 $ 1,102    
Domestic Tax Jurisdiction        
Operating Loss Carryforwards [Line Items]        
Net operating loss carryforwards $ 718,700      
Net operating loss carryforwards expiration year 2036      
State and Local Jurisdiction        
Operating Loss Carryforwards [Line Items]        
Net operating loss carryforwards $ 124,800      
Net operating loss carryforwards expiration year 2031      
Federal research and development | Domestic Tax Jurisdiction        
Operating Loss Carryforwards [Line Items]        
Tax credit carryforwards $ 66,700      
Tax credit carryforwards expiration year 2031      
Federal research and development | State and Local Jurisdiction        
Operating Loss Carryforwards [Line Items]        
Tax credit carryforwards $ 29,500