Income Taxes - Additional Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Operating Loss And Tax Credit Carryforward [Line Items]
Valuation allowance	$ 239,045	$ 201,814
Increase (decrease) in valuation allowance	37,200	26,900
Cumulative unrecognized tax benefits	9,902	$ 6,867	$ 4,905
Cumulative reduction to deferred tax assets related to net operating losses offset by valuation allowance	9,000
Unrecognized tax benefits that would impact effective tax rate	0
Federal
Operating Loss And Tax Credit Carryforward [Line Items]
Operating loss carryforwards	$ 349,800
Operating loss carryforwards, expiration year	2022
Federal | Research and Development
Operating Loss And Tax Credit Carryforward [Line Items]
Research and development credits	$ 28,200
Research and development credits, expiration year	2032
State
Operating Loss And Tax Credit Carryforward [Line Items]
Operating loss carryforwards	$ 208,000
Operating loss carryforwards, expiration year	2022
State | Research and Development
Operating Loss And Tax Credit Carryforward [Line Items]
Research and development credits	$ 23,000
Foreign | Research and Development
Operating Loss And Tax Credit Carryforward [Line Items]
Research and development credits	$ 2,000
Research and development credits, expiration year	2037