Restructuring - Summary of Restructuring Activity (Details) - USD ($)	3 Months Ended				12 Months Ended
	Dec. 31, 2020	Sep. 30, 2020	Jun. 30, 2020	Mar. 31, 2020	Dec. 31, 2021	Dec. 31, 2020
Restructuring and Related Activities [Abstract]
Balance	$ 194,000	$ 1,057,000	$ 1,423,000		$ 8,000
Restructuring costs incurred			554,000	$ 2,919,000	$ 0	$ 3,473,000
Termination benefits paid	(186,000)	(863,000)	(920,000)	(1,496,000)
Balance	$ 8,000	$ 194,000	$ 1,057,000	$ 1,423,000		$ 8,000