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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