Income Taxes - Schedule of NOL Carryforwards (Details) - USD ($) $ in Thousands	Dec. 31, 2020	Dec. 31, 2019
Operating Loss Carryforwards [Line Items]
Federal and state research and development tax credit and other credit carryforwards	$ 132,800	$ 88,570
Domestic country
Operating Loss Carryforwards [Line Items]
NOL carryforwards:	59,200	87,500
State and local jurisdiction
Operating Loss Carryforwards [Line Items]
NOL carryforwards:	24,800	20,500
Foreign country
Operating Loss Carryforwards [Line Items]
NOL carryforwards:	$ 40,800	$ 11,600