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Income Taxes - Additional Information (Details) - USD ($) $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Income Taxes [Line Items] |  |  |
Increase in valuation allowance due to net operating loss | $ 39,700 | $ 53,800 |
Capitalized costs | 23,697 | 0 |
Unrecognized tax benefits | 24,745 | 21,944 | $ 8,677
Unrecognized tax benefits, if recognized would effective annual tax rate | 1,000 |  |
Accrued interest or penalties related to uncertain tax positions | 300 | $ 300 |
Domestic tax authority |  |  |
Income Taxes [Line Items] |  |  |
NOL carryforwards | 418,900 |  |
NOL carryforwards subject to expiration | 57,300 |  |
Domestic tax authority | Research Tax Credit Carryforward |  |  |
Income Taxes [Line Items] |  |  |
Tax credit carryforwards | 17,500 |  |
State credit carryforwards |  |  |
Income Taxes [Line Items] |  |  |
NOL carryforwards | 239,900 |  |
State credit carryforwards | Research Tax Credit Carryforward |  |  |
Income Taxes [Line Items] |  |  |
Tax credit carryforwards | 15,500 |  |
Foreign Tax Authority |  |  |
Income Taxes [Line Items] |  |  |
NOL carryforwards | $ 49,000 |  |

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