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Summary of Significant Accounting Policies - Summary of Reconciliation of Cash, Cash Equivalents and Restricted Cash (Details) - USD ($)
$ in Thousands
Sep. 30, 2021
Dec. 31, 2020
Sep. 30, 2020
Dec. 31, 2019
Accounting Policies [Abstract]        
Cash and cash equivalents $ 180,347 $ 356,082 [1] $ 366,967  
Restricted cash — Included in "Prepaid expenses and other current assets" $ 176      
Restricted Cash, Current, Asset, Statement of Financial Position [Extensible List] us-gaap:PrepaidExpensesAndOtherCurrentAssetsMember   us-gaap:PrepaidExpensesAndOtherCurrentAssetsMember  
Restricted cash — Included in "Other assets" $ 2,556   $ 424  
Restricted Cash, Noncurrent, Asset, Statement of Financial Position [Extensible List] us-gaap:OtherNoncurrentAssetsMember   us-gaap:OtherNoncurrentAssetsMember  
Total cash, cash equivalents and restricted cash shown in the condensed consolidated statements of cash flows $ 183,079 $ 358,679 $ 367,391 $ 364,197
[1] The condensed consolidated balance sheet as of December 31, 2020 is derived from the audited consolidated financial statements as of that date.