Income Taxes - Net deferred tax assets (Details) - USD ($) $ in Thousands	Dec. 31, 2024	Dec. 31, 2023
Deferred tax assets
Net operating loss carryforwards	$ 158,097	$ 151,230
Tax credits	18,114	16,288
Stock compensation	3,203	4,812
Accruals and reserves	4,106	2,061
Inventory reserve	15,114	15,207
Lease liability	5,562	6,114
Depreciation	99	2,197
Capitalized tax R&E	27,296	25,844
Other	4,183	1,581
Total deferred tax assets	235,774	225,334
Valuation allowance	(230,109)	(221,454)
Total deferred tax assets	5,665	3,880
Deferred tax liabilities
Right-of-use asset	(3,467)	(3,829)
Software costs	(1,839)	0
Net deferred tax assets	$ 359	$ 51