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Income Taxes - Narrative (Details) - USD ($)
$ in Thousands
12 Months Ended
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