CONDENSED CONSOLIDATED STATEMENTS OF STOCKHOLDERS' EQUITY - USD ($) shares in Thousands, $ in Thousands	Total	Common Stock	Additional Paid-in Capital	Accumulated Other Comprehensive Loss	Accumulated Deficit	Noncontrolling Interests
Balance at Dec. 31, 2022	$ 68,562	$ 177	$ 1,077,341	$ (2,787)	$ (1,007,121)	$ 952
Balance (in shares) at Dec. 31, 2022		177,582
Issuance of common stock from exercise of stock options, vesting of restricted stock units, and ESPP purchases	426	$ 3	423
Issuance of common stock from exercise of stock options, vesting of restricted stock units, and ESPP purchases (in shares)		2,890
Stock-based compensation	5,669		5,669
Other comprehensive income	546			546
Net loss	(15,641)				(15,619)	(22)
Balance at Mar. 31, 2023	59,562	$ 180	1,083,433	(2,241)	(1,022,740)	930
Balance (in shares) at Mar. 31, 2023		180,472
Balance at Dec. 31, 2023	53,444	$ 181	1,098,353	(1,274)	(1,044,610)	794
Balance (in shares) at Dec. 31, 2023		181,248
Issuance of common stock from exercise of stock options, vesting of restricted stock units, and ESPP purchases	401	$ 4	397
Issuance of common stock from exercise of stock options, vesting of restricted stock units, and ESPP purchases (in shares)		3,565
Stock-based compensation	5,855		5,855
Other comprehensive income	152			152
Net loss	(9,690)				(9,688)	(2)
Balance at Mar. 31, 2024	$ 50,162	$ 185	$ 1,104,605	$ (1,122)	$ (1,054,298)	$ 792
Balance (in shares) at Mar. 31, 2024		184,813