Annual report pursuant to Section 13 and 15(d)

Income Taxes - Additional Information (Details)

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Income Taxes - Additional Information (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Operating Loss Carryforwards [Line Items]    
Valuation allowance increased $ 46.4 $ 107.8
Research And Development | California    
Operating Loss Carryforwards [Line Items]    
Tax credit carryforwards 36.4 26.1
Federal    
Operating Loss Carryforwards [Line Items]    
Net operating loss carryforwards 608.6 516.2
Operating loss carryforwards, subject to expiration 15.8 15.8
Federal | Research And Development    
Operating Loss Carryforwards [Line Items]    
Tax credit carryforwards 44.9 28.4
State    
Operating Loss Carryforwards [Line Items]    
Net operating loss carryforwards 82.0 745.0
Foreign    
Operating Loss Carryforwards [Line Items]    
Net operating loss carryforwards $ 17.1 $ 9.9
Internal Revenue Code    
Operating Loss Carryforwards [Line Items]    
Period of cumulative change in ownership 3 years  
Internal Revenue Code | Minimum    
Operating Loss Carryforwards [Line Items]    
Cumulative least change in ownership percentage 5.00%  
Cumulative change in ownership percentage 50.00%