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Warrant Transaction Agreements - Amazon.com, Inc. Transaction Agreement (Details)
$ / shares in Units, $ in Thousands
3 Months Ended 6 Months Ended 12 Months Ended
Aug. 24, 2022
USD ($)
$ / shares
D
shares
Jun. 30, 2023
USD ($)
$ / shares
shares
Jun. 30, 2022
USD ($)
Jun. 30, 2023
USD ($)
$ / shares
shares
Jun. 30, 2022
USD ($)
shares
Dec. 31, 2022
$ / shares
shares
Dec. 31, 2021
shares
Apr. 30, 2017
shares
Apr. 04, 2017
shares
Class of Warrant or Right [Line Items]                  
Minimum percentage of warrants vested and exercisable automatically       60.00%          
Par value, common stock | $ / shares   $ 0.01   $ 0.01   $ 0.01      
Selling, general and administrative | $   $ 101,154 $ 95,953 $ 205,170 $ 176,842        
Provision for Loss Contracts Related to Service | $       856 (18,131)        
Warrants issued with the Amazon, Inc transaction agreement                  
Class of Warrant or Right [Line Items]                  
Shares of common stock that can be purchased from warrants issued (in shares)               55,286,696 55,286,696
Reduction in revenue | $       $ 11,500 $ 3,700        
Number of warrants exercised (in shares)       34,917,912 17,461,994        
Warrant shares vested (in shares)             55,286,696    
Warrants issued with the Amazon, Inc transaction agreement | Amazon                  
Class of Warrant or Right [Line Items]                  
Number of warrants exercised (in shares)       34,917,912   24,704,450      
Tranche one of warrants issued with the Amazon.com, Inc transaction agreement                  
Class of Warrant or Right [Line Items]                  
Warrant charge capitalized | $   $ 19,700   $ 19,700          
Tranche two of warrants issued with the Amazon.com, Inc. Transaction Agreement                  
Class of Warrant or Right [Line Items]                  
Warrant shares vested (in shares)   1,000,000   1,000,000          
Warrant charge capitalized | $   $ 20,400   $ 20,400          
Warrant Issued With Amazon                  
Class of Warrant or Right [Line Items]                  
Cash payments to be received under agreement | $ $ 2,100,000                
Warrant percentage weighted average share price 90.00%                
Warrant Issued With Amazon | Vesting of First Warrants Shares                  
Class of Warrant or Right [Line Items]                  
Number of warrants exercisable 9,000,000                
Warrant shares vested (in shares) 9,000,000                
Exercise price of warrants (in dollars per share) | $ / shares $ 22.9841                
Fair value of warrants per share | $ / shares $ 20.36                
Warrant Issued With Amazon | Vesting of Remaining Warrants Shares                  
Class of Warrant or Right [Line Items]                  
Warrant shares vested (in shares) 7,000,000                
Warrant Issued With Amazon | Vest in multiple tranches                  
Class of Warrant or Right [Line Items]                  
Shares of common stock that can be purchased from warrants issued (in shares) 15,000,000                
Vesting period 7 years                
Warrant shares vested (in shares) 15,000,000                
2022 Amazon transaction agreement                  
Class of Warrant or Right [Line Items]                  
Shares of common stock that can be purchased from warrants issued (in shares) 16,000,000                
Reduction in revenue | $   $ 1,500 $ 100 $ 2,600 $ 200        
Warrant shares vested (in shares)   1,000,000   1,000,000          
Class Of Warrant Or Right Exercisable on Vesting Threshold Trading Days | D 30                
Warrant charge capitalized | $   $ 20,400   $ 20,400          
2022 Amazon transaction agreement | Vest immediately upon issuance                  
Class of Warrant or Right [Line Items]                  
Warrant shares vested (in shares) 1,000,000                
2022 Amazon transaction agreement | Tranches 1-3 | Risk free interest rate                  
Class of Warrant or Right [Line Items]                  
Warrants and rights outstanding measurement input 0.0315                
2022 Amazon transaction agreement | Tranches 1-3 | Volatility                  
Class of Warrant or Right [Line Items]                  
Warrants and rights outstanding measurement input 0.7500                
2022 Amazon transaction agreement | Tranches 1-3 | Expected average term                  
Class of Warrant or Right [Line Items]                  
Expected average term 7 years                
2022 Amazon transaction agreement | Tranches 1-3 | Exercise price                  
Class of Warrant or Right [Line Items]                  
Warrants and rights outstanding measurement input | $ / shares 22.98                
2022 Amazon transaction agreement | Tranches 1-3 | Stock price                  
Class of Warrant or Right [Line Items]                  
Warrants and rights outstanding measurement input | $ / shares 20.36                
2022 Amazon transaction agreement | Tranche 4 | Risk free interest rate                  
Class of Warrant or Right [Line Items]                  
Warrants and rights outstanding measurement input   0.0394   0.0394          
2022 Amazon transaction agreement | Tranche 4 | Volatility                  
Class of Warrant or Right [Line Items]                  
Warrants and rights outstanding measurement input   0.7500   0.7500          
2022 Amazon transaction agreement | Tranche 4 | Expected average term                  
Class of Warrant or Right [Line Items]                  
Expected average term       4 years          
2022 Amazon transaction agreement | Tranche 4 | Exercise price                  
Class of Warrant or Right [Line Items]                  
Warrants and rights outstanding measurement input | $ / shares   9.35   9.35          
2022 Amazon transaction agreement | Tranche 4 | Stock price                  
Class of Warrant or Right [Line Items]                  
Warrants and rights outstanding measurement input | $ / shares   10.39   10.39