Common Stock and Stock-Based Compensation - Schedule of Share-based Compensation Cost (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation expense	$ 19,555	$ 24,756	$ 21,998
Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation expense	11,521	17,694	16,394
PSU
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation expense	2,729	1,635	3,062
RSU
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation expense	5,305	5,427	2,542
Selling, general and administrative
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation expense	16,873	22,074	17,556
Research and development
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation expense	$ 2,682	$ 2,682	$ 4,442