Stock-Based Compensation - Stock-based compensation expense (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Equity Incentive Plan
Total stock-based compensation expense	$ 5,858	$ 9,924	$ 11,383	$ 14,109
Research and development
Equity Incentive Plan
Total stock-based compensation expense	1,943	3,197	3,962	5,391
Sales and marketing
Equity Incentive Plan
Total stock-based compensation expense	1,155	1,316	2,262	1,937
General and administrative
Equity Incentive Plan
Total stock-based compensation expense	$ 2,760	$ 5,411	$ 5,159	$ 6,781