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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