Income Taxes - Summary of Deferred Tax Assets (Liabilities) (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Deferred Tax Assets:
Accruals and allowances	$ 10,369	$ 14,389
Net operating loss carryforwards	26,236	22,216
Stock-based compensation	3,956	3,731
Lease liabilities	6,170	7,063
Deferred revenue	1,763	3,673
Tax credit carryforwards	8,100	6,311
Depreciation and amortization	3,989	2,810
Capitalized research and development expenses	26,186	17,376
Total deferred tax assets	86,769	77,569
Deferred Tax Liabilities:
Right-of-use assets	(3,462)	(5,804)
Total deferred tax liabilities	(3,462)	(5,804)
Valuation Allowance	(81,742)	(70,496)	$ (43,917)	$ (24,477)
Net deferred tax assets	$ 1,565	$ 1,269