Income Taxes - Components of the Pretax Loss From Operations (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Income Tax Disclosure [Abstract]
U.S. Domestic	$ (68,131)	$ (66,482)	$ (70,452)
Foreign	(9,526)	(11,721)	(13,964)
Net loss before income taxes	$ (77,657)	$ (78,203)	$ (84,416)