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Income Taxes - Additional Information (Details) - USD ($) $ in Thousands | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Income Tax Disclosure [Abstract] |  |  |
Change in valuation allowance | $ 13,400 |  |
Federal net operating loss carry-forwards | 259,600 | $ 201,500 |
State net operating loss carry-forwards | 64,500 | 64,000 |
Foreign net operating loss carry-forwards | $ 2,300 | 2,200 |
Federal net operating loss carry-forwards expiration year | 2025 |  |
State net operating loss carry-forwards expiration year | 2028 |  |
Foreign net operating loss carry-forwards expiration year | 2028 |  |
Federal research and development tax credit carry-forwards | $ 3,900 | 3,900 |
State research and development tax credit carry-forwards | $ 3,600 | 3,600 |
Expiration of federal tax credits | 2025 |  |
Total federal net operating loss carryforward | $ 111,200 |  |
Unrecognized tax benefits | $ 2,431 | $ 2,436 | $ 2,184

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