Balance Sheet Components - Schedule of Reconciliation of Cash, Cash Equivalent and Restricted Cash (Details) - USD ($) $ in Thousands	Sep. 30, 2021	Dec. 31, 2020		Sep. 30, 2020	Dec. 31, 2019
Balance Sheet Related Disclosures [Abstract]
Cash and cash equivalents	$ 145,826	$ 147,017	[1]
Restricted cash	1,499	1,499	[1]
Total cash, cash equivalents and restricted cash	$ 147,325	$ 148,516		$ 255,475	$ 247,472

[1] The condensed consolidated balance sheet as of December 31, 2020 has been derived from the audited financial statements as of that date.