Income Taxes - Schedule of Tax Effects of Temporary Differences and Carryforwards that Give Rise to Significant Portions of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Deferred tax assets and liabilities
Net operating loss carryforwards	$ 122,570	$ 113,374
Research and development credits	2,121	2,121
Lease liabilities	1,798	1,861
Derivative liability		6,495
Accruals and reserves	14,961	10,175
Intangibles	1,732	3,053
Gross deferred tax assets	143,182	137,079
Less valuation allowance	(137,700)	(131,309)
Total deferred tax assets	5,482	5,770
Depreciation	(717)	(276)
Convertible debt discount	(2,800)	(3,440)
Right-of-use assets	(1,624)	(1,793)
Intangibles - deferred tax liability	(434)	(333)
Total deferred tax liabilities	(5,575)	(5,842)
Net deferred taxes	$ (93)	$ (72)