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Income Taxes - Narrative (Details) - USD ($)
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Operating Loss Carryforwards [Line Items]      
(Provision for) benefit from income taxes $ 32,132,000 $ (162,692,000) $ 7,197,000
Deferred tax liabilities, undistributed foreign earnings 2,800,000    
(Decrease) increase in valuation allowance 4,000,000 (202,200,000)  
Interest and penalties related to uncertain tax positions, increase (decrease) (300,000) 26,000 $ 100,000
Interest and penalties accrued related to uncertain tax positions 0 $ 300,000  
Unrecognized tax benefits that would impact the effective tax rate 6,800,000    
Federal      
Operating Loss Carryforwards [Line Items]      
Net operating loss carryforwards 169,000,000    
Tax credit carryforwards 13,900,000    
State      
Operating Loss Carryforwards [Line Items]      
Net operating loss carryforwards 218,000,000    
Tax credit carryforwards 17,000,000    
Foreign | Her Majesty's Revenue and Customs (HMRC)      
Operating Loss Carryforwards [Line Items]      
Net operating loss carryforwards $ 109,000,000