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Income Taxes - Narrative (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Tax Credit Carryforward [Line Items]      
Valuation allowance $ 86,078 $ 55,428  
Increase in valuation allowance 30,700    
Unrecognized tax benefits 5,399 3,336 $ 1,846
Research and development tax credits      
Tax Credit Carryforward [Line Items]      
Unrecognized tax benefits 4,900 3,100  
Federal      
Tax Credit Carryforward [Line Items]      
Operating loss carryforwards 344,200 209,500  
Operating loss carryforwards, not subject to expiration 252,400    
State      
Tax Credit Carryforward [Line Items]      
Operating loss carryforwards 92,500 $ 143,800  
Foreign      
Tax Credit Carryforward [Line Items]      
Operating loss carryforwards $ 1,300