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Stock-Based Awards - Compensation (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Stock-based compensation expense
Stock-based compensation expense	$ 2,903	$ 6,522	$ 4,992	$ 13,328
Unrecognized stock-based compensation expense, options	13,200		13,200
Unrecognized stock-based compensation expense, RSUs	11,000		11,000
Cost of revenue
Stock-based compensation expense
Stock-based compensation expense	223	473	475	772
Research and development
Stock-based compensation expense
Stock-based compensation expense	1,097	3,494	1,068	6,096
General and administrative
Stock-based compensation expense
Stock-based compensation expense	$ 1,583	$ 2,555	$ 3,449	$ 6,460
Options to purchase common stock
Stock-based compensation expense
Weighted average recognition period unrecognized stock-based compensation cost (in years)			2 years 3 months 18 days
Restricted stock unit awards
Stock-based compensation expense
Weighted average recognition period unrecognized stock-based compensation cost (in years)			2 years