Income Taxes - Effective Tax Reconciliation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Amount
Tax provision (benefit) at U.S. statutory rate	$ (19,053)	$ (23,431)	$ (3,804)
State income taxes	(2,519)	(2,514)	(409)
Foreign taxes in excess of the U.S. statutory rate	175	10	74
Change of valuation allowance	15,288	21,501	2,397
Change in fair value of warrant liabilities	1,892	(4,166)	1,275
Share based compensation	(46)	8,804	1,548
Tax credits	1,913	(3,615)	(862)
Section 162(m) limitation	3,354	3,693	0
Other	(185)	45	167
Total Provision for income taxes	$ 819	$ 327	$ 386
Percent
Tax provision (benefit) at U.S. statutory rate	21.00%	21.00%	21.00%
State income taxes	2.80%	2.30%	2.30%
Foreign taxes in excess of the U.S. statutory rate	(0.20%)	0.00%	(0.40%)
Change of valuation allowance	(16.90%)	(19.30%)	(13.20%)
Change in fair value of warrant liabilities	(2.10%)	3.70%	(7.10%)
Share based compensation	0.10%	(7.90%)	(8.60%)
Tax credits	(2.10%)	3.20%	4.80%
Section 162(m) limitation	(3.70%)	(3.30%)	0.00%
Other	0.20%	0.00%	(0.90%)
Tax Expense	(0.90%)	(0.30%)	(2.10%)
Revision of Prior Period, Error Correction, Adjustment
Amount
State income taxes		$ (1,800)
Change in fair value of warrant liabilities		$ (8,300)