Income Taxes - Components of Deferred Tax Assets and Valuation Allowance (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Deferred tax assets:
Net operating loss carryforwards	$ 75,649	$ 50,272
Depreciation and amortization	1,153	1,237
Accruals/other	5,716	5,332
Operating lease liability	1,230	1,252
Research and development and foreign credits	21,197	14,856
Total deferred tax assets	104,945	72,949
Deferred tax liabilities:
Operating right-of-use asset	(1,037)	(1,040)
Total deferred tax liabilities	(1,037)	(1,040)
Valuation allowance	(103,908)	(71,909)
Valuation allowance
Increase in valuation allowance	$ 32,000	$ 19,400	$ 18,500