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Stock-Based Awards - Compensation (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Stock-based compensation expense    
Stock-based compensation expense $ 2,089 $ 6,806
Unrecognized stock-based compensation expense, options 16,600  
Unrecognized stock-based compensation expense, RSUs 13,600  
Cost of revenue    
Stock-based compensation expense    
Stock-based compensation expense 252 299
Research and development    
Stock-based compensation expense    
Stock-based compensation expense (29) 2,602
General and administrative    
Stock-based compensation expense    
Stock-based compensation expense $ 1,866 $ 3,905
Options to purchase common stock    
Stock-based compensation expense    
Weighted average recognition period unrecognized stock-based compensation cost (in years) 2 years 6 months  
Restricted stock unit awards    
Stock-based compensation expense    
Weighted average recognition period unrecognized stock-based compensation cost (in years) 2 years 3 months 18 days