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Income Taxes - Narrative (Details) - USD ($)
$ in Thousands
 3 Months Ended 12 Months Ended
Jun. 30, 2021
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Operating Loss Carryforwards [Line Items]          
Increase (decrease) in valuation allowance $ 39,300 $ 3,900      
Deferred tax assets, valuation allowance   77,843 $ 73,936    
Unrecognized tax benefits   5,948 $ 4,155 $ 3,167 $ 1,146
Federal          
Operating Loss Carryforwards [Line Items]          
Operating loss carryforwards   406,500      
Federal | Research Tax Credit Carryforward          
Operating Loss Carryforwards [Line Items]          
Tax credit carryforward   10,900      
State          
Operating Loss Carryforwards [Line Items]          
Operating loss carryforwards   278,100      
State | Research Tax Credit Carryforward          
Operating Loss Carryforwards [Line Items]          
Tax credit carryforward   $ 9,200