Income Taxes - Components of Deferred Tax Assets (Liabilities) (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Deferred income tax assets:
Net operating loss carryforwards	$ 5,802	$ 10,849
Research and development tax credits	18,558	15,966
Capitalized research and software costs	14,706	0
Stock-based compensation	5,105	3,965
Lease liability	14,260	13,983
Other	3,614	2,853
Total deferred tax assets	62,045	47,616
Valuation allowance	(43,776)	(17,217)	$ 0	$ 0
Deferred tax assets, net of valuation allowance	18,269	30,399
Deferred tax liabilities:
Capitalized research and software costs	0	(9,972)
Property and equipment	(4,914)	(5,024)
Intangible assets	(940)	(1,558)
Capitalized commissions	(4,217)	(3,296)
Lease asset	(6,249)	(11,056)
Other	(2,634)	(1,171)
Total deferred tax liabilities	(18,954)	(32,077)
Total net deferred tax liabilities	$ (685)	$ (1,678)