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Stock-Based Awards - Compensation (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2024	Sep. 30, 2023	Sep. 30, 2024	Sep. 30, 2023
Stock-based compensation expense
Total stock-based compensation expense	$ 3,004	$ 5,948	$ 7,996	$ 19,276
Unrecognized stock-based compensation expense, options	11,500		11,500
Unrecognized stock-based compensation expense, RSUs	9,300		9,300
Cost of revenue
Stock-based compensation expense
Total stock-based compensation expense	232	347	707	1,119
Research and development
Stock-based compensation expense
Total stock-based compensation expense	1,124	3,072	2,192	9,168
General and administrative
Stock-based compensation expense
Total stock-based compensation expense	$ 1,648	$ 2,529	$ 5,097	$ 8,989
Options to purchase common stock
Stock-based compensation expense
Weighted average recognition period unrecognized stock-based compensation cost (in years)			2 years 1 month 6 days
Restricted stock unit awards
Stock-based compensation expense
Weighted average recognition period unrecognized stock-based compensation cost (in years)			1 year 10 months 24 days