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Income Taxes - Reconciliation of Income Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	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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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

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+ 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

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-Topic 740
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-Paragraph 15
-Publisher FASB
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Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 740
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-Section 50
-Paragraph 12
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482685/740-10-50-12

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-URI https://asc.fasb.org//1943274/2147482685/740-10-50-12

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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 nondeductible impairment loss.

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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 income tax contingencies. Including, but not limited to, domestic tax contingency, foreign tax contingency, state and local tax contingency, and other contingencies.

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