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Income Taxes - Narrative (Details) - USD ($)	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Income Taxes [Line Items]
Valuation allowance	$ 32,538,000	$ 27,906,000
Increase in valuation allowance	4,600,000	3,100,000
Unrecognized tax benefits including interest and penalties	3,000,000	3,100,000
Interest and penalties	0	0	$ 200,000
Unrecognized tax benefits that would impact effective tax rate	3,000,000	3,000,000	4,300,000
Deferred tax liability related to state tax liabilities on future distributions	900,000	$ 2,100,000	$ 1,700,000
Federal
Income Taxes [Line Items]
Valuation allowance	15,400,000
State
Income Taxes [Line Items]
Net operating losses	49,000,000
Valuation allowance	17,200,000
Foreign
Income Taxes [Line Items]
Valuation allowance	300,000
Research and experimentation | Federal
Income Taxes [Line Items]
Income tax credit carryforwards	5,100,000
Research and experimentation | State
Income Taxes [Line Items]
Income tax credit carryforwards	$ 12,200,000

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Deferred Tax Liability, State Taxes, Dividend Reinvestment

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[Line Items] for Income Taxes [Table]

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Amount of deferred tax assets for which it is more likely than not that a tax benefit will not be realized.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
-SubTopic 10
-Section 50
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Amount of operating loss carryforward, before tax effects, available to reduce future taxable income under enacted tax laws.

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Amount of expense for interest on an underpayment of income taxes and penalties related to a tax position claimed or expected to be claimed in the tax return.

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The total amount of unrecognized tax benefits that, if recognized, would affect the effective tax rate.

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