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Income Taxes - Reconciliation of Income Taxes (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Income Tax Expense (Benefit), Continuing Operations, Income Tax Reconciliation [Abstract] |  |  |
Benefit from income taxes at statutory rates | $ (28,375) | $ (58,307) | $ (63,677)
State income tax, net of federal benefit | (3,922) | (3,601) | (3,447)
Change in valuation allowance | 28,394 | 61,065 | 77,424
Research and development tax credits | (2,139) | (7,534) | (16,523)
Stock-based compensation | 2,099 | 2,913 | 483
Uncertain tax positions | 861 | 2,291 | 6,509
Goodwill Impairment | 1,962 | 0 | 0
Expired NOLs and credits | 1,352 | 1,459 | 616
Limited NOLs and credits | (997) | (1,337) | (542)
Change in tax rates | 365 | (187) | 0
Foreign tax rate differential | (4) | (8) | (24)
Other | 404 | 3,246 | (819)
Income tax expense (benefit) | $ 0 | $ 0 | $ 0

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- Definition Amount of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to increase (decrease) in the valuation allowance for deferred tax assets. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Topic 740 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 12 -Publisher FASB -URI https://asc.fasb.org//1943274/2147482685/740-10-50-12 + Details
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- Definition Amount of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations, attributable to increase (decrease) in the income tax rates. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 740 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 12 -Publisher FASB -URI https://asc.fasb.org//1943274/2147482685/740-10-50-12 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 740 -SubTopic 10 -Name Accounting Standards Codification -Section 45 -Paragraph 15 -Publisher FASB -URI https://asc.fasb.org//1943274/2147482525/740-10-45-15 + Details
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