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Income Taxes - Narrative (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Tax Credit Carryforward [Line Items] |  |  |
Valuation allowance | $ 68,427 | $ 56,551 |
Increase (decrease) in deferred tax asset valuation allowance | 11,900 | 14,600 |
Write off of net operating losses |  |  | $ 3,100
Write off of tax credits |  |  | 1,200
Unrecognized tax benefits | 8,642 | $ 8,489 | $ 8,248
Federal |  |  |
Tax Credit Carryforward [Line Items] |  |  |
Net operating loss carryforwards | 212,200 |  |
Federal | Tax Year 2018 |  |  |
Tax Credit Carryforward [Line Items] |  |  |
Net operating loss carryforwards | 140,300 |  |
State |  |  |
Tax Credit Carryforward [Line Items] |  |  |
Net operating loss carryforwards | 406,400 |  |
Research and Development | Federal |  |  |
Tax Credit Carryforward [Line Items] |  |  |
Tax credit carryforward | 4,300 |  |
Research and Development | State |  |  |
Tax Credit Carryforward [Line Items] |  |  |
Tax credit carryforward | $ 5,300 |  |

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