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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