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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 Disclosure [Line Items] |  |  |
Income tax provision | $ 0 | $ 0 |
Increase in valuation allowance | 9,600 | 16,300 |
Net operating loss carryforwards | $ 65,601 | 68,499 |
Ownership change plan description | In general, an ownership change, as defined by Section 382, results from transactions increasing the ownership of certain shareholders or public groups in the stock of a corporation by more than 50% over a three-year period. |  |
Unrecognized tax benefits | $ 18,462 | 9,759 | $ 4,040
Intellectual Property |  |  |
Income Taxes Disclosure [Line Items] |  |  |
Unrecognized tax benefits | 800 |  |
California Research And Development |  |  |
Income Taxes Disclosure [Line Items] |  |  |
Tax credit carryforward, amount | 6,400 |  |
Federal and state research and development [Member] |  |  |
Income Taxes Disclosure [Line Items] |  |  |
Tax credit carryforward, amount | 11,300 |  |
Unrecognized tax benefits | 17,700 |  |
Domestic Tax Authority |  |  |
Income Taxes Disclosure [Line Items] |  |  |
Operating loss carryforwards | $ 294,800 |  |
Operating loss carryforwards, expiration date | Dec. 31, 2037 |  |
Net operating loss carryforwards | $ 7,500 |  |
Operating loss carryforwards indefinitely | 287,300 |  |
State |  |  |
Income Taxes Disclosure [Line Items] |  |  |
Operating loss carryforwards | $ 12,100 |  |
Operating loss carryforwards, expiration date | Dec. 31, 2035 |  |
Foreign Tax Authority |  |  |
Income Taxes Disclosure [Line Items] |  |  |
Operating loss carryforwards | $ 16,100 |  |
COVID-19 |  |  |
Income Taxes Disclosure [Line Items] |  |  |
Income tax provision | $ 0 | $ 0 |

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