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Income Taxes - Narrative (Details) - USD ($) | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2018
Operating Loss Carryforwards [Line Items] |  |  |  |
Income tax expense (benefit) | $ 0 | $ 0 | $ 0 |
Tax benefits expired | 7,300,000 |  |  |
Unrecognized tax benefits that would impact effective tax rate | 20,500,000 | 19,700,000 | $ 17,400,000 |
Federal |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Net operating loss carryforwards that will expire due to IRC Section 382 limitations | 1,013,300,000 |  |  |
Net operating loss carryforwards |  |  |  | $ 719,300,000
Federal | Research Tax Credit Carryforward |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Tax credit carryforward amount | 41,600,000 |  |  |
California |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Net operating loss carryforwards that will expire due to IRC Section 382 limitations | 251,400,000 |  |  |
Pennsylvania |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Net operating loss carryforwards that will expire due to IRC Section 382 limitations | 102,600,000 |  |  |
Korean State Income Tax Authority |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Net operating loss carryforwards that will expire due to IRC Section 382 limitations |  | $ 1,100,000 |  |
State |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Net operating loss carryforwards | 354,000,000.0 |  |  |
State | Research Tax Credit Carryforward |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Tax credit carryforward amount | $ 6,100,000 |  |  |

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