Income Taxes - Effective Tax Rate Reconciliation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Income Tax Disclosure [Abstract]
Loss before income taxes	$ (27,332)	$ (21,770)	$ (13,423)
Effective Income Tax Rate Reconciliation, Amount [Abstract]
Income taxes computed at the federal statutory rate	(5,740)	(4,572)	(2,819)
State income taxes, net of federal benefit	(1,513)	(703)	(567)
Goodwill impairment	0	6,341	2,243
Change in valuation allowance	2,070	22,108	0
Research and development and other tax credits	(808)	(1,316)	(1,790)
Excess executive compensation	272	266	322
Other	567	331	(47)
(Benefit from) provision for income taxes	$ (5,152)	$ 22,455	$ (2,658)
Effective Income Tax Rate Reconciliation, Percent [Abstract]
Income taxes computed at the federal statutory rate	21.00%	21.00%	21.00%
State income taxes, net of federal benefit	5.50%	3.20%	4.20%
Goodwill impairment	0.00%	(29.10%)	(16.70%)
Change in valuation allowance	(7.60%)	(101.60%)	0.00%
Research and development and other tax credits	3.00%	6.00%	13.30%
Excess executive compensation	(1.00%)	(1.20%)	(2.40%)
Other	(2.10%)	(1.50%)	0.40%
(Benefit from) provision for income taxes	18.80%	(103.10%)	19.80%