Fair Value of Financial Instruments - Schedule of Change in Fair Value of Contingent Consideration Liabilities Based on Level 3 Inputs (Details) - Contingent Consideration Liabilities - USD ($) $ in Thousands |
12 Months Ended | |
|---|---|---|
Dec. 31, 2023 |
Dec. 31, 2022 |
|
| Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items] | ||
| Beginning Balance | $ 12,463 | $ 31,367 |
| Change in fair value | (9,740) | (18,904) |
| Ending Balance | 2,723 | 12,463 |
| Technology Milestones | ||
| Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items] | ||
| Beginning Balance | 6,025 | 24,359 |
| Change in fair value | (4,654) | (18,334) |
| Ending Balance | 1,371 | 6,025 |
| Product Milestones | ||
| Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items] | ||
| Beginning Balance | 6,438 | 7,008 |
| Change in fair value | (5,086) | (570) |
| Ending Balance | $ 1,352 | $ 6,438 |