Stock-Based Compensation - Stock-based compensation expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2024	Dec. 31, 2023	Dec. 31, 2022
Equity Incentive Plan
Total stock-based compensation expense	$ 21,032	$ 27,480	$ 42,531
Research and development
Equity Incentive Plan
Total stock-based compensation expense	6,950	9,772	12,834
Sales and marketing
Equity Incentive Plan
Total stock-based compensation expense	4,871	4,260	5,974
General and administrative
Equity Incentive Plan
Total stock-based compensation expense	$ 9,211	$ 13,448	$ 23,723