CONSOLIDATED STATEMENTS OF OPERATIONS AND COMPREHENSIVE LOSS - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2024	Dec. 31, 2023	Dec. 31, 2022
Income Statement [Abstract]
Revenue	$ 9,065	$ 4,312	$ 4,192
Cost of revenue	12,855	10,198	8,447
Gross loss	(3,790)	(5,886)	(4,255)
Research and development expenses	102,667	102,503	109,587
General and administrative expenses	33,259	31,761	31,070
Selling and marketing expenses	7,156	7,638	7,043
Litigation settlement, net	11,500	0	0
Total operating expenses	154,582	141,902	147,700
Operating loss	(158,372)	(147,788)	(151,955)
Interest income	7,712	8,925	3,707
Other income (expense), net	(1,430)	(10,470)	943
Net loss before income taxes	(152,090)	(149,333)	(147,305)
Income tax provision	171	0	0
Net loss	(152,261)	(149,333)	(147,305)
Unrealized gain (loss) on available-for-sale securities	134	3,498	(3,061)
Total comprehensive loss	$ (152,127)	$ (145,835)	$ (150,366)
Net loss per share, basic	$ (2.85)	$ (3.29)	$ (3.39)
Net loss per share, diluted	$ (2.85)	$ (3.29)	$ (3.39)
Weighted-average shares used in computing net loss per share, basic	53,359,685	45,412,155	43,461,579
Weighted-average shares used in computing net loss per share, diluted	53,359,685	45,412,155	43,461,579