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Income Taxes - Narrative (Details) - USD ($)
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Operating Loss Carryforwards [Line Items]        
Income tax expense (benefit) $ 0 $ 0 $ (257,335)  
Tax benefits expired 9,700,000      
Unrecognized tax benefits that would impact effective tax rate 17,400,000 $ 10,900,000 $ 9,900,000  
Federal        
Operating Loss Carryforwards [Line Items]        
Net operating loss carryforwards that will expire due to IRC Section 382 limitations 864,500,000      
Net operating loss carryforwards       $ 568,900,000
Federal | Research Tax Credit Carryforward        
Operating Loss Carryforwards [Line Items]        
Tax credit carryforward amount 35,100,000      
California        
Operating Loss Carryforwards [Line Items]        
Net operating loss carryforwards that will expire due to IRC Section 382 limitations 146,500,000      
Pennsylvania        
Operating Loss Carryforwards [Line Items]        
Net operating loss carryforwards that will expire due to IRC Section 382 limitations 89,000,000      
State        
Operating Loss Carryforwards [Line Items]        
Net operating loss carryforwards 235,600,000      
State | Research Tax Credit Carryforward        
Operating Loss Carryforwards [Line Items]        
Tax credit carryforward amount 4,400,000      
Korean State Income Tax Authority        
Operating Loss Carryforwards [Line Items]        
Net operating loss carryforwards that will expire due to IRC Section 382 limitations $ 806,000