Income Taxes - Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Deferred tax assets:
Net operating losses	$ 132,579	$ 133,220
Capitalized research and development expenditures	15,969	0
Deferred interest	19,540	19,342
Stock-based compensation	16,541	12,642
Tax credit carry-forward	15,512	13,662
Accrual and reserves	9,300	15,928
Depreciation and amortization	2,019	3,377
Lease liability	1,368	2,232
Total deferred tax assets	212,828	200,403
Valuation allowance	(212,536)	(199,380)	$ (148,011)	$ (104,298)
Net deferred tax assets	292	1,023
Deferred tax liabilities:
Depreciation and amortization	(952)	(1,053)
Right of use asset	(1,122)	(1,860)
Net deferred taxes	$ (1,782)	$ (1,890)