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Income Taxes - Narrative (Details) - USD ($)
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2018
Operating Loss Carryforwards [Line Items]        
Income tax expense (benefit) $ 0 $ 0 $ 0  
Tax benefits expired 8,300,000      
Unrecognized tax benefits that would impact effective tax rate 19,700,000 $ 17,400,000 $ 10,900,000  
Federal        
Operating Loss Carryforwards [Line Items]        
Net operating loss carryforwards that will expire due to IRC Section 382 limitations 920,600,000      
Net operating loss carryforwards       $ 625,400,000
Federal | Research Tax Credit Carryforward        
Operating Loss Carryforwards [Line Items]        
Tax credit carryforward amount 40,500,000      
California        
Operating Loss Carryforwards [Line Items]        
Net operating loss carryforwards that will expire due to IRC Section 382 limitations 210,300,000      
Pennsylvania        
Operating Loss Carryforwards [Line Items]        
Net operating loss carryforwards that will expire due to IRC Section 382 limitations 89,600,000      
State        
Operating Loss Carryforwards [Line Items]        
Net operating loss carryforwards 299,900,000      
State | Research Tax Credit Carryforward        
Operating Loss Carryforwards [Line Items]        
Tax credit carryforward amount 4,700,000      
Korean State Income Tax Authority        
Operating Loss Carryforwards [Line Items]        
Net operating loss carryforwards that will expire due to IRC Section 382 limitations $ 1,000,000