Leases - Narrative (Details) $ in Thousands	1 Months Ended	2 Months Ended	12 Months Ended
	Nov. 30, 2020 USD ($) ft² renewal_option	May 31, 2021 USD ($) ft² renewal_option	Dec. 31, 2022 USD ($) ft² lease_agreement	Dec. 31, 2021 USD ($)	Dec. 31, 2020 USD ($)	Oct. 31, 2018 ft²
Lessee, Lease, Description [Line Items]
Number of lease agreements | lease_agreement			3
Right-of-use assets obtained in exchange for lease obligations | $			$ 0	$ 1,604	$ 450
Fremont facility
Lessee, Lease, Description [Line Items]
Office space area (sq ft)			72,500
Original Waltham facility
Lessee, Lease, Description [Line Items]
Office space area (sq ft)						3,520
Waltham facility
Lessee, Lease, Description [Line Items]
Office space area (sq ft)		12,864
Number of options to extend | renewal_option		1
Term of lease extension		5 years
Right-of-use assets obtained in exchange for lease obligations | $		$ 1,600
Milwaukee facility
Lessee, Lease, Description [Line Items]
Office space area (sq ft)	4,768
Number of options to extend | renewal_option	1
Term of lease extension	5 years
Right-of-use assets obtained in exchange for lease obligations | $	$ 400
Existence of option to extend	true