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Income Taxes - Additional Information (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Taxes [Line Items]      
Increase in valuation allowance due to net operating loss $ 17,000 $ 39,700  
Section 174 R&D capitalization 29,455 23,697  
Unrecognized tax benefits 24,614 24,745 $ 21,944
Accrued interest or penalties related to uncertain tax positions 0 $ 300  
Domestic tax authority      
Income Taxes [Line Items]      
NOL carryforwards 493,000    
NOL carryforwards subject to expiration 57,300    
Domestic tax authority | Research Tax Credit Carryforward      
Income Taxes [Line Items]      
Tax credit carryforwards 20,300    
State credit carryforwards      
Income Taxes [Line Items]      
NOL carryforwards 300,800    
State credit carryforwards | Research Tax Credit Carryforward      
Income Taxes [Line Items]      
Tax credit carryforwards 17,600    
Foreign Tax Authority      
Income Taxes [Line Items]      
NOL carryforwards $ 49,300