Annual report pursuant to Section 13 and 15(d)

Income Taxes - Narrative (Details)

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Income Taxes - Narrative (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Income Tax Disclosure [Abstract]      
Increase in valuation allowance $ 18,300 $ 5,800  
Uncertain tax benefits 3,684 2,861 $ 2,430
Accrued interest and penalties related to uncertain tax positions 0    
Operating Loss Carryforwards [Line Items]      
Increase in unrecognized tax benefits due to additional research and development credits 823 431  
Federal      
Operating Loss Carryforwards [Line Items]      
Net operating losses 193,200 131,200  
Net operating loss that can be carried forward indefinitely 147,300    
Federal | Research and Developmental      
Operating Loss Carryforwards [Line Items]      
Tax credit carryforward 5,900    
State      
Operating Loss Carryforwards [Line Items]      
Net operating losses 149,900 118,500  
State | Research and Developmental      
Operating Loss Carryforwards [Line Items]      
Tax credit carryforward 5,600    
Foreign      
Operating Loss Carryforwards [Line Items]      
Income tax liability $ 0 $ 0