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Income Taxes - Provision, Reconciliation and Deferred Taxes (Details) - USD ($)
 3 Months Ended 12 Months Ended
Dec. 31, 2021
Sep. 30, 2021
Jun. 30, 2021
Mar. 31, 2021
Dec. 31, 2020
Sep. 30, 2020
Jun. 30, 2020
Mar. 31, 2020
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
United States and foreign loss before income taxes:                      
United States                 $ (51,370,000) $ (134,096,000) $ (50,339,000)
Foreign                 2,103,000 1,782,000 303,000
Loss before taxes                 (49,267,000) (132,314,000) (50,036,000)
Current:                      
Federal                   (949,000) 237,000
State                 189,000 275,000 122,000
Foreign                 1,162,000 715,000 487,000
Total current income tax provision                 1,351,000 41,000 846,000
Deferred:                      
Federal                 264,000 (10,098,000) (58,368,000)
State                 (1,234,000) (1,952,000) (7,938,000)
Foreign                 (55,000) 43,000  
Total deferred income tax provision                 (1,025,000) (12,007,000) (66,306,000)
Income tax provision (benefit) $ (363,000) $ 202,000 $ 208,000 $ 279,000 $ (3,243,000) $ (889,000) $ (7,384,000) $ (450,000) 326,000 (11,966,000) (65,460,000)
Reconciliations of the U.S. federal statutory tax rate to the combined effective tax rate                      
Statutory rate of tax benefit                 (10,346,000) (27,713,000) (10,508,000)
State income taxes, net of federal benefit                 (3,395,000) (4,674,000) (2,418,000)
Permanent and other items                 4,513,000 263,000 4,371,000
Stock-based compensation                 (12,310,000) (3,537,000) (5,006,000)
Research credits                 (5,408,000) (5,082,000) (3,594,000)
Uncertain tax positions                 2,685,000 3,835,000 1,780,000
Change in tax rate                 (802,000) 1,303,000 419,000
NOL Carryback Claim                   (447,000)  
ASU 2016-09 Implementation & ASC 842 Adoption in 2019                     (104,000)
Valuation allowance                 25,389,000 24,086,000 (50,400,000)
Income tax provision (benefit) (363,000) $ 202,000 $ 208,000 $ 279,000 (3,243,000) $ (889,000) $ (7,384,000) $ (450,000) 326,000 (11,966,000) $ (65,460,000)
Components of deferred tax assets                      
Net operating loss carryforwards 100,464,000       87,684,000       100,464,000 87,684,000  
Tax credits 16,968,000       14,293,000       16,968,000 14,293,000  
Stock-based compensation 15,521,000       19,972,000       15,521,000 19,972,000  
Reserves and accruals 10,241,000       9,013,000       10,241,000 9,013,000  
Lease liability 25,188,000       20,434,000       25,188,000 20,434,000  
Other, net 2,120,000               2,120,000    
Total deferred tax assets 170,502,000       151,396,000       170,502,000 151,396,000  
Depreciation and amortization (67,641,000)       (76,034,000)       (67,641,000) (76,034,000)  
ROU Lease Asset (18,747,000)       (17,471,000)       (18,747,000) (17,471,000)  
Convertible Notes         (22,252,000)         (22,252,000)  
Other, net         (542,000)         (542,000)  
Inventory (59,000)       (59,000)       (59,000) (59,000)  
Total deferred tax liabilities (86,447,000)       (116,358,000)       (86,447,000) (116,358,000)  
Valuation allowance (91,373,000)       (45,551,000)       (91,373,000) (45,551,000)  
Net deferred tax liability $ (7,318,000)       $ (10,513,000)       $ (7,318,000) $ (10,513,000)