Summary of Significant Accounting Policies - Reconciliation of Cash, Cash Equivalents, and Restricted Cash (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Summary Of Significant Accounting Policies [Line Items]
Cash and cash equivalents	$ 149,800	$ 228,698	$ 147,449
Total cash, cash equivalents, and restricted cash shown in the statement of cash flows	151,839	231,132	149,804	$ 107,099
Prepaid expenses and other current assets
Summary Of Significant Accounting Policies [Line Items]
Restricted cash, current	0	395	263
Other assets
Summary Of Significant Accounting Policies [Line Items]
Restricted cash, noncurrent	$ 2,039	$ 2,039	$ 2,092