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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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