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Income Taxes - Narrative (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Income Taxes [Line Items] |  |  |
Valuation allowance | $ 59,686,000 | $ 44,596,000 |
Increase in valuation allowance | 15,100,000 | 12,100,000 |
Unrecognized tax benefits including interest and penalties | 3,400,000 | 3,200,000 |
Interest and penalties | 0 | 0 | $ 0
Unrecognized tax benefits that would impact effective tax rate | 3,300,000 | 3,200,000 | 3,000,000
Deferred tax liability related to state tax liabilities on future distributions | 400,000 | $ 500,000 | $ 900,000
Federal |  |  |
Income Taxes [Line Items] |  |  |
Net operating losses | 19,800,000 |  |
Valuation allowance | 34,700,000 |  |
State |  |  |
Income Taxes [Line Items] |  |  |
Net operating losses | 76,700,000 |  |
Valuation allowance | 22,800,000 |  |
Foreign |  |  |
Income Taxes [Line Items] |  |  |
Net operating losses | 10,300,000 |  |
Research and experimentation | Federal |  |  |
Income Taxes [Line Items] |  |  |
Income tax credit carryforwards | 5,200,000 |  |
Research and experimentation | State |  |  |
Income Taxes [Line Items] |  |  |
Income tax credit carryforwards | $ 13,500,000 |  |

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- Definition [Line Items] for Income Taxes [Table] + References No definition available. + Details
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- Definition Unrecognized Tax Benefits, Including Income Tax Interest and Penalties Accrued + References No definition available. + Details
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- Definition Amount of deferred tax assets for which it is more likely than not that a tax benefit will not be realized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 740 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c) -Publisher FASB -URI https://asc.fasb.org//1943274/2147482685/740-10-50-2 + Details
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- Definition Amount of operating loss carryforward, before tax effects, available to reduce future taxable income under enacted tax laws. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 3 -Subparagraph (a) -Publisher FASB -URI https://asc.fasb.org//1943274/2147482685/740-10-50-3 + Details
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- Definition The amount of the tax credit carryforward, before tax effects, available to reduce future taxable income under enacted tax laws. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 3 -Subparagraph (a) -Publisher FASB -URI https://asc.fasb.org//1943274/2147482685/740-10-50-3 + Details
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- Definition Amount of expense for interest on an underpayment of income taxes and penalties related to a tax position claimed or expected to be claimed in the tax return. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 740 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 15 -Subparagraph (c) -Publisher FASB -URI https://asc.fasb.org//1943274/2147482685/740-10-50-15 + Details
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- Definition The total amount of unrecognized tax benefits that, if recognized, would affect the effective tax rate. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 740 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 15A -Subparagraph (b) -Publisher FASB -URI https://asc.fasb.org//1943274/2147482685/740-10-50-15A + Details
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