Annual report pursuant to Section 13 and 15(d)

Income Taxes - Narrative (Details)

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Income Taxes - Narrative (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure [Abstract]      
Increase in valuation allowance $ 37,900 $ 27,200  
Uncertain tax benefits 6,060 4,750 $ 3,684
Accrued interest and penalties related to uncertain tax positions 0    
Operating Loss Carryforwards [Line Items]      
Increase in valuation allowance 37,900 27,200  
Increase in unrecognized tax benefits due to additional research and development credits 1,310 1,066  
Federal      
Operating Loss Carryforwards [Line Items]      
Net operating losses 346,300 243,400  
Net operating loss that can be carried forward indefinitely 300,400    
Federal | Research and Developmental      
Operating Loss Carryforwards [Line Items]      
Tax credit carryforward 10,600    
State      
Operating Loss Carryforwards [Line Items]      
Net operating losses 293,700 $ 209,400  
State | Research and Developmental      
Operating Loss Carryforwards [Line Items]      
Tax credit carryforward $ 8,900