Income Taxes - Expiry Dates of Federal and State Income Tax Credit Carryforwards (Details) $ in Thousands	Dec. 31, 2021 USD ($)
U.S. Federal
Tax Credit Carryforward [Line Items]
Tax credit carryforwards	$ 56,134
California (U.S.)
Tax Credit Carryforward [Line Items]
Tax credit carryforwards	25,786
U.S. foreign tax credit | U.S. Federal
Tax Credit Carryforward [Line Items]
Tax credit carryforwards	3,165
U.S. research tax credit | U.S. Federal
Tax Credit Carryforward [Line Items]
Tax credit carryforwards	26,568
U.S. business tax credits | U.S. Federal
Tax Credit Carryforward [Line Items]
Tax credit carryforwards	26,401
State investment tax credits | California (U.S.)
Tax Credit Carryforward [Line Items]
Tax credit carryforwards	2,028
State research tax credits - definite lived | California (U.S.)
Tax Credit Carryforward [Line Items]
Tax credit carryforwards	1,563
State research tax credits - indefinite lived | California (U.S.)
Tax Credit Carryforward [Line Items]
Tax credit carryforwards	$ 22,195