Leases - Lease Cost (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Lessee, Lease, Description [Line Items]
Operating lease expense	$ 7,625	$ 8,732	$ 8,123
Selling, general and administrative
Lessee, Lease, Description [Line Items]
Operating lease expense	6,248	7,974	7,959
Operating sublease income	466
Research and development
Lessee, Lease, Description [Line Items]
Operating lease expense	$ 1,377	$ 758	$ 164