Leases - Narrative (Details) $ in Thousands	1 Months Ended	3 Months Ended	12 Months Ended
	Nov. 30, 2020 USD ($) ft² renewal_option	Mar. 31, 2023 USD ($) ft²	Dec. 31, 2023 USD ($) ft² renewal_option lease_agreement	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)	Aug. 31, 2023 USD ($) ft²	May 31, 2021 USD ($)
Lessee, Lease, Description [Line Items]
Number of lease agreements | lease_agreement			3
Right-of-use assets			$ 5,589	$ 9,295
Operating lease, liability			6,160	9,749
Sublease Income			800
Right-of-use assets obtained in exchange for lease obligations			$ 339	$ 0	$ 1,604
Waltham, Massachusetts
Lessee, Lease, Description [Line Items]
Office space area (sq ft) | ft²						4,247
Waltham facility
Lessee, Lease, Description [Line Items]
Number of options to extend | renewal_option			1
Term of lease extension			5 years
Right-of-use assets						$ 300	$ 1,600
Operating lease, liability						$ 300	$ 1,600
Waltham facility | Minimum
Lessee, Lease, Description [Line Items]
Office space area (sq ft) | ft²			17,111
Fremont facility | Maximum
Lessee, Lease, Description [Line Items]
Office space area (sq ft) | ft²		72,500
Milwaukee facility
Lessee, Lease, Description [Line Items]
Office space area (sq ft) | ft²	4,768
Number of options to extend | renewal_option	1
Term of lease extension	5 years
Existence of option to extend	true
Right-of-use assets obtained in exchange for lease obligations	$ 400
Sublease Facility, Fremont California
Lessee, Lease, Description [Line Items]
Operating lease, impairment loss		$ 400
Sublease Facility, Fremont California | Minimum
Lessee, Lease, Description [Line Items]
Office space area (sq ft) | ft²		21,644