Segment Information - Schedule of Consolidated Operating Results Including Segment Expenses (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2024	Dec. 31, 2023	Dec. 31, 2022
Segment Reporting, Revenue Reconciling Item [Line Items]
Cost of revenue (excluding 1)	$ 12,855	$ 10,198	$ 8,447
Research and development expenses (excluding 1)	102,667	102,503	109,587
General and administrative expenses (excluding 1)	33,259	31,761	31,070
Selling and marketing expenses (excluding 1)	7,156	7,638	7,043
Litigation settlement, net	11,500	0	0
Loss from Operations	(158,372)	(147,788)	(151,955)
Fair value at issuance of Series A warrants (3)	0	6,500	0
Change in fair value of warrant liabilities (4)	1,486	182	(970)
Interest income	7,712	8,925	3,707
Income tax provision	171	0	0
Net loss	(152,261)	(149,333)	(147,305)
Reportable Segment, Aggregation before Other Operating Segment [Member]
Segment Reporting, Revenue Reconciling Item [Line Items]
Net Revenues	9,065	4,312	4,192
Stock-based compensation expense (1)	23,708	23,675	24,247
Cost of revenue (excluding 1)	12,576	9,233	7,286
Research and development expenses (excluding 1)	86,010	85,743	92,390
General and administrative expenses (excluding 1)	27,384	26,630	26,098
Selling and marketing expenses (excluding 1)	6,259	6,819	6,126
Litigation settlement, net	11,500	0	0
Loss from Operations	(158,372)	(147,788)	(151,955)
Financing charges (2)	0	(3,788)	0
Fair value at issuance of Series A warrants (3)	0	(6,500)	0
Change in fair value of warrant liabilities (4)	(1,486)	(182)	970
Interest income	7,712	8,925	3,707
Other income (expense), net (excluding 2,3 and 4)	56	0	(27)
Income tax provision	(171)	0	0
Net loss	$ (152,261)	$ (149,333)	$ (147,305)