Summary of Significant Accounting Policies - Reconciliation of Cash, Cash Equivalents and Restricted Cash (Details) - USD ($) $ in Thousands	Mar. 31, 2022	Dec. 31, 2021	Mar. 31, 2021	Dec. 31, 2020
Cash and Cash Equivalents [Line Items]
Cash and cash equivalents	$ 66,927	$ 52,071	$ 72,132
Restricted cash included in:
Total cash, cash equivalents and restricted cash	67,445	$ 52,590	72,711	$ 61,613
Prepaid expenses and other current assets
Restricted cash included in:
Restricted cash	0		57
Non-current inventory and other
Restricted cash included in:
Restricted cash	$ 518		$ 522