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Summary of Significant Accounting Policies - Derecognition of Balances (Details) - USD ($) $ in Thousands	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Leases
Property and equipment, net	$ 14,020	$ 10,887
Other current liabilities		2,682
Accumulated deficit	$ (665,197)	$ (549,221)
ASU 2016-02 | Cumulative effect adjustment for adoption of new accounting guidance
Leases
Property and equipment, net			$ 32,627
Other current liabilities			(1,014)
Construction financing lease obligation, net of current portion			(32,417)
Accumulated deficit			$ 803

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