Income Taxes - Additional Information (Details) - USD ($) $ in Thousands		12 Months Ended
	Mar. 27, 2020	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2017	Dec. 31, 2018
Operating Loss Carryforwards [Line Items]
Effective tax rate		(1.49%)	(2.32%)	(1.56%)
Increase (decrease) in valuation allowance		$ 67,703	$ 22,553
Research and development tax credits carryforwards		25,330	14,427
Unrecognized tax benefits		12,539	$ 7,477	$ 14,099		$ 9,688
Impact of unrecognized tax benefits on effective tax rate, if recognized		556
Federal
Operating Loss Carryforwards [Line Items]
Net operating loss carryforwards		518,200
Research and development tax credits carryforwards		$ 15,436
Operating loss carryforwards, deduction limitation	80.00%	80.00%			80.00%
Indefinite operating loss carryforwards		$ 367,261
State
Operating Loss Carryforwards [Line Items]
Net operating loss carryforwards		158,449
Research and development tax credits carryforwards		$ 9,894