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Commitments and Contingencies - Narrative (Details)
1 Months Ended 3 Months Ended
Jun. 30, 2017
USD ($)
Jun. 30, 2017
USD ($)
Mar. 31, 2021
USD ($)
ft²
renewal_option
Dec. 31, 2021
USD ($)
ft²
renewal_option
Dec. 31, 2020
USD ($)
Apr. 30, 2020
ft²
Jan. 31, 2020
ft²
Dec. 31, 2019
USD ($)
Long-term Purchase Commitment [Line Items]                
Area of real estate property (in square feet) | ft²       77,300        
Remaining future commitment       $ 58,816,000        
Indemnification agreement                
Long-term Purchase Commitment [Line Items]                
Accruals for expenses related to indemnification issues       0 $ 0     $ 0
Term Loan                
Long-term Purchase Commitment [Line Items]                
Current borrowing capacity $ 10,000,000 $ 10,000,000            
Revolving Credit Facility                
Long-term Purchase Commitment [Line Items]                
Current borrowing capacity $ 5,000,000 $ 5,000,000            
Accounts receivable borrowing base percentage 80.00%              
Interest rate, stated percentage 4.25% 4.25%            
Revolving Credit Facility | Prime Rate                
Long-term Purchase Commitment [Line Items]                
Basis spread on variable rate   1.00%            
Demand deposits | Letter of Credit                
Long-term Purchase Commitment [Line Items]                
Cash deposit balance       $ 1,100,000 1,100,000      
200-220 Penobscot                
Long-term Purchase Commitment [Line Items]                
Area of real estate property (in square feet) | ft²       28,200        
Number of options to extend lease term | renewal_option       1        
Renewal term       5 years        
400 Penoscot                
Long-term Purchase Commitment [Line Items]                
Area of real estate property (in square feet) | ft²       37,900        
501 Chesapeake                
Long-term Purchase Commitment [Line Items]                
Area of real estate property (in square feet) | ft²       11,200        
Number of options to extend lease term | renewal_option       1        
Renewal term       5 years        
101 Saginaw                
Long-term Purchase Commitment [Line Items]                
Area of real estate property (in square feet) | ft²       29,900        
Sublease                
Long-term Purchase Commitment [Line Items]                
Area of real estate property (in square feet) | ft²           3,400 26,500  
San Carlos, California                
Long-term Purchase Commitment [Line Items]                
Remaining future commitment       $ 40,000        
San Carlos Space                
Long-term Purchase Commitment [Line Items]                
Area of real estate property (in square feet) | ft²     36,593          
Number of options to extend lease term | renewal_option     1          
Base rent     $ 2,500,000          
Operating lease, lease not yet commenced, discount rate     3.00%          
Lease term     10 years          
Lease renewal term     5 years          
Security deposit         500,000      
San Carlos Space | Leaseholds and Leasehold Improvements                
Long-term Purchase Commitment [Line Items]                
Leasehold improvements     $ 6,300,000          
San Carlos Space | Asset under Construction                
Long-term Purchase Commitment [Line Items]                
Leasehold improvements     2,700,000          
Base rent     $ 400,000          
Headquarters Redwood City                
Long-term Purchase Commitment [Line Items]                
Asset retirement obligations       $ 400,000 $ 200,000