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Leases - Narrative (Details) $ in Thousands | 1 Months Ended | 2 Months Ended | 12 Months Ended |
--- | --- | --- | --- | ---
Nov. 30, 2020 USD ($) ft² renewal_option | Sep. 30, 2019 ft² | May 31, 2021 USD ($) ft² renewal_option | Dec. 31, 2021 USD ($) ft² lease_agreement | Dec. 31, 2020 USD ($) | Dec. 31, 2019 USD ($) | Oct. 31, 2018 ft²
Lessee, Lease, Description [Line Items] |  |  |  |  |  |  |
Number of lease agreements | lease_agreement |  |  |  | 3 |  |  |
Right-of-use assets obtained in exchange for lease obligations | $ |  |  |  | $ 1,604 | $ 450 | $ 5,810 |
Fremont facility |  |  |  |  |  |  |
Lessee, Lease, Description [Line Items] |  |  |  |  |  |  |
Office space area (sq ft) |  |  |  | 72,500 |  |  |
Office space area added (sq ft) |  | 10,716 |  |  |  |  |
Original Waltham facility |  |  |  |  |  |  |
Lessee, Lease, Description [Line Items] |  |  |  |  |  |  |
Office space area (sq ft) |  |  |  |  |  |  | 3,520
Waltham facility |  |  |  |  |  |  |
Lessee, Lease, Description [Line Items] |  |  |  |  |  |  |
Office space area (sq ft) |  |  | 12,864 |  |  |  |
Existence of option to extend |  |  | true |  |  |  |
Number of options to extend | renewal_option |  |  | 1 |  |  |  |
Term of lease extension |  |  | 5 years |  |  |  |
Right-of-use assets obtained in exchange for lease obligations | $ |  |  | $ 1,600 |  |  |  |
Milwaukee facility |  |  |  |  |  |  |
Lessee, Lease, Description [Line Items] |  |  |  |  |  |  |
Office space area (sq ft) | 4,768 |  |  |  |  |  |
Existence of option to extend | true |  |  |  |  |  |
Number of options to extend | renewal_option | 1 |  |  |  |  |  |
Term of lease extension | 5 years |  |  |  |  |  |
Right-of-use assets obtained in exchange for lease obligations | $ | $ 400 |  |  |  |  |  |

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