Annual report pursuant to Section 13 and 15(d)

Income Taxes - Narrative (Details)

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Income Taxes - Narrative (Details) - USD ($)
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2022
Income Taxes [Line Items]      
Valuation allowance $ 298,866,000   $ 360,717,000
Income tax penalties and interest accrued 0   0
Unrecognized tax benefits that would impact effective tax rate     0
Social security tax, employer, deferral, CARES act   $ 1,800,000  
Repayment of social security tax, employer, deferral, CARES act $ 900,000    
Domestic Tax Authority      
Income Taxes [Line Items]      
Valuation allowance     284,400,000
Operating loss carryforwards, subject to expiration     1,900,000
Operating loss carryforwards, not subject to expiration     905,700,000
Domestic Tax Authority | Research Tax Credit Carryforward      
Income Taxes [Line Items]      
Tax credit carryforward, amount     6,300,000
Foreign Tax Authority      
Income Taxes [Line Items]      
Valuation allowance     76,300,000
Operating loss carryforwards     257,200,000
State and Local Jurisdiction      
Income Taxes [Line Items]      
Operating loss carryforwards     580,100,000
State and Local Jurisdiction | Research Tax Credit Carryforward      
Income Taxes [Line Items]      
Tax credit carryforward, amount     $ 7,100,000