CONDENSED CONSOLIDATED STATEMENTS OF STOCKHOLDERS' EQUITY - USD ($) shares in Thousands, $ in Thousands	Total	Common Stock	Additional Paid-in Capital	Accumulated Other Comprehensive Loss	Accumulated Deficit	Noncontrolling Interests
Balance at Dec. 31, 2020	$ 103,806	$ 168	$ 1,012,932	$ 674	$ (909,968)
Balance (in shares) at Dec. 31, 2020		168,170
Issuance of common stock from exercise of stock options, vesting of restricted stock units, and ESPP purchases	1,171		1,171
Issuance of common stock from exercise of stock options, vesting of restricted stock units, and ESPP purchases (in shares)		2,621
Stock-based compensation	5,333		5,333
Other comprehensive loss	(218)			(218)
Net loss	(17,457)				(17,457)
Balance at Mar. 31, 2021	92,635	$ 168	1,019,436	456	(927,425)
Balance (in shares) at Mar. 31, 2021		170,791
Balance at Dec. 31, 2020	103,806	$ 168	1,012,932	674	(909,968)
Balance (in shares) at Dec. 31, 2020		168,170
Net loss	(45,255)
Balance at Sep. 30, 2021	81,075	$ 172	1,034,945	181	(955,223)	$ 1,000
Balance (in shares) at Sep. 30, 2021		172,256
Balance at Mar. 31, 2021	92,635	$ 168	1,019,436	456	(927,425)
Balance (in shares) at Mar. 31, 2021		170,791
Issuance of common stock from exercise of stock options and vesting of restricted stock units	1,294	$ 4	1,290
Issuance of common stock from exercise of stock options and vesting of restricted stock units (in shares)		781
Stock-based compensation	5,808		5,808
Other comprehensive loss	(139)			(139)
Net loss	(15,361)				(15,361)
Balance at Jun. 30, 2021	84,237	$ 172	1,026,534	317	(942,786)
Balance (in shares) at Jun. 30, 2021		171,572
Issuance of common stock from exercise of stock options, vesting of restricted stock units, and ESPP purchases	2,519		2,519
Issuance of common stock from exercise of stock options, vesting of restricted stock units, and ESPP purchases (in shares)		684
Stock-based compensation	5,892		5,892
Other comprehensive loss	(136)			(136)
Equity contribution from noncontrolling interest	1,000					1,000
Net loss	(12,437)				(12,437)
Balance at Sep. 30, 2021	81,075	$ 172	1,034,945	181	(955,223)	1,000
Balance (in shares) at Sep. 30, 2021		172,256
Balance at Dec. 31, 2021	85,617	$ 174	1,048,936	(149)	(964,342)	998
Balance (in shares) at Dec. 31, 2021		173,670
Issuance of common stock from exercise of stock options, vesting of restricted stock units, and ESPP purchases	2,138	$ 3	2,135
Issuance of common stock from exercise of stock options, vesting of restricted stock units, and ESPP purchases (in shares)		3,134
Stock-based compensation	6,426		6,426
Other comprehensive loss	(1,486)			(1,486)
Net loss	(12,284)				(12,284)
Balance at Mar. 31, 2022	80,411	$ 177	1,057,497	(1,635)	(976,626)	998
Balance (in shares) at Mar. 31, 2022		176,804
Balance at Dec. 31, 2021	85,617	$ 174	1,048,936	(149)	(964,342)	998
Balance (in shares) at Dec. 31, 2021		173,670
Net loss	(29,200)
Balance at Sep. 30, 2022	74,073	$ 177	1,069,629	(3,189)	(993,497)	953
Balance (in shares) at Sep. 30, 2022		177,403
Balance at Mar. 31, 2022	80,411	$ 177	1,057,497	(1,635)	(976,626)	998
Balance (in shares) at Mar. 31, 2022		176,804
Issuance of common stock from exercise of stock options and vesting of restricted stock units	256		256
Issuance of common stock from exercise of stock options and vesting of restricted stock units (in shares)		274
Stock-based compensation	5,007		5,007
Other comprehensive loss	(518)			(518)
Net loss	(8,395)				(8,389)	(6)
Balance at Jun. 30, 2022	76,761	$ 177	1,062,760	(2,153)	(985,015)	992
Balance (in shares) at Jun. 30, 2022		177,078
Issuance of common stock from exercise of stock options, vesting of restricted stock units, and ESPP purchases	1,101		1,101
Issuance of common stock from exercise of stock options, vesting of restricted stock units, and ESPP purchases (in shares)		325
Stock-based compensation	5,768		5,768
Other comprehensive loss	(1,036)			(1,036)
Net loss	(8,521)				(8,482)	(39)
Balance at Sep. 30, 2022	$ 74,073	$ 177	$ 1,069,629	$ (3,189)	$ (993,497)	$ 953
Balance (in shares) at Sep. 30, 2022		177,403