Income Taxes - Components of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Deferred tax assets:
Net operating losses	$ 78,525	$ 72,530
Credits	11,895	9,914
Deferred revenues	1,490	1,080
Stock-based compensation	3,946	2,576
Reserves and accruals	2,928	1,914
Depreciation	514	1,115
Intangible assets	1,356	1,714
Capital losses	26	25
Unrealized gain/loss	418	400
Lease liability	11,206	5,626
Other assets	122	100
Total deferred tax assets:	112,426	96,994
Valuation allowance	(101,762)	(92,126)
Deferred tax liabilities:
Right-of-use assets	(10,373)	(4,848)
Other	(314)	(52)
Total deferred tax liabilities:	(10,687)	(4,900)
Net deferred tax liabilities	$ (23)	$ (32)