Income Taxes - Schedule of Reconciliation of Theoretical Tax Expense and Actual Tax Expense (Benefit) (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Income Tax Disclosure [Abstract]
Loss before taxes, as reported in the consolidated statements of operations	$ (110,839)	$ (85,898)	$ (76,376)
Statutory tax rate	21.00%	21.00%	21.00%
Theoretical tax benefits on the above amount at the US statutory tax rate	$ (23,276)	$ (18,039)	$ (16,039)
Income tax at rate other than the U.S. statutory tax rate	(2,621)	4,845	(2,508)
Tax advances and non-deductible expenses including equity based compensation expenses	(8,533)	934	(115)
Operating losses and other temporary differences for which valuation allowance was provided	41,340	22,189	22,818
State tax	(2,945)	(2,872)	(3,436)
Impact of rate change	(2,568)	0	401
Change in tax reserve for uncertain tax positions	4,850	1,489	1,247
Other individually immaterial income tax items	(225)	(434)	20
Income tax expense	$ 6,022	$ 8,112	$ 2,388