Income Taxes - Reconciliation of Total Amounts of Gross Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Balance at beginning of period	$ 9,785	$ 9,354	$ 8,418
Gross increases—tax positions in prior years	3	220	0
Gross decreases—tax positions in prior years	0	0	(760)
Gross increases—tax positions in current year	3,370	1,678	1,703
Settlements	0	0	(4)
Lapse of statute of limitations	(1,894)	(1,467)	(3)
Balance at end of period	$ 11,264	$ 9,785	$ 9,354