Income Taxes - Narrative (Details) $ in Millions	Dec. 31, 2021 USD ($)
Federal
Income Tax Disclosure [Line Items]
Net operating loss carryforwards	$ 386.3
Net operating loss carryforwards, indefinite	236.1
Federal | Research and development tax credit
Income Tax Disclosure [Line Items]
Tax credit carryforwards	16.4
Foreign
Income Tax Disclosure [Line Items]
Tax credit carryforwards	1.2
State | California
Income Tax Disclosure [Line Items]
Net operating loss carryforwards	88.3
State | California | Research and development tax credit
Income Tax Disclosure [Line Items]
Tax credit carryforwards	8.4
State | California | Minimum tax credit carryforwards
Income Tax Disclosure [Line Items]
Tax credit carryforwards	0.1
State | Other states
Income Tax Disclosure [Line Items]
Net operating loss carryforwards	$ 4.5