Annual report pursuant to Section 13 and 15(d)

Income Taxes - Narrative (Details)

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Income Taxes - Narrative (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Operating Loss Carryforwards [Line Items]        
Valuation allowance increase $ 18,400 $ 8,900    
Uncertain tax positions 5,786 2,811 $ 2,184 $ 1,794
Federal        
Operating Loss Carryforwards [Line Items]        
Net operating loss carryforwards 123,600      
Federal | Research Tax Credit Carryforward        
Operating Loss Carryforwards [Line Items]        
R&D credits 4,200      
Uncertain tax positions 4,200 1,800    
State        
Operating Loss Carryforwards [Line Items]        
Net operating loss carryforwards 85,400      
State | Research Tax Credit Carryforward        
Operating Loss Carryforwards [Line Items]        
R&D credits 1,500      
Uncertain tax positions 1,500 900    
Foreign        
Operating Loss Carryforwards [Line Items]        
Net operating loss carryforwards 121,100      
Uncertain tax positions $ 100 $ 100