Balance Sheet Components - Components of Accrued Liabilities (Details) - USD ($) $ in Thousands	Mar. 31, 2022	Dec. 31, 2021
Organization, Consolidation and Presentation of Financial Statements [Abstract]
Accrued vacation	$ 8,371	$ 7,431
Accrued payroll and related expenses	18,871	34,484
Accrued ESPP contribution	2,748	1,002
Accrued professional services fees	1,794	1,724
Accrued interest	47	78
Claims payable	2,770	2,988
Restructuring liability	2,902	0
Other	4,432	3,779
Total accrued liabilities	$ 41,935	$ 51,486