Consolidated Statements of Equity - USD ($) $ in Thousands	Total	Common Stock	Additional Paid-in Capital	Accumulated Deficit
Beginning Balance, Shares at Dec. 31, 2022		199,433,998
Beginning Balance at Dec. 31, 2022	$ 657,444	$ 199	$ 1,632,080	$ (974,835)
Exercise of stock options, Shares		123,168
Exercise of stock options	366		366
Issuance of common stock upon vesting of restricted stock units, shares		1,471,826
Issuance of common stock upon vesting of restricted stock units	1	$ 2	(1)
Stock-based compensation expense	8,661		8,661
Stock-based compensation expense for Employee Stock Purchase Plan, or ESPP	270		270
Net loss	(15,990)			(15,990)
Ending Balance, Shares at Mar. 31, 2023		201,028,992
Ending Balance at Mar. 31, 2023	$ 650,752	$ 201	1,641,376	(990,825)
Beginning Balance, Shares at Dec. 31, 2023	204,084,024	204,084,024
Beginning Balance at Dec. 31, 2023	$ 656,445	$ 204	1,678,401	(1,022,160)
Exercise of stock options, Shares	493,608	493,608
Exercise of stock options	$ 3,168		3,168
Issuance of common stock upon vesting of restricted stock units, shares		1,737,736
Issuance of common stock upon vesting of restricted stock units		$ 2	(2)
Stock-based compensation expense	10,766		10,766
Stock-based compensation expense for Employee Stock Purchase Plan, or ESPP	193		193
Net loss	$ (1,009)			(1,009)
Ending Balance, Shares at Mar. 31, 2024	206,315,368	206,315,368
Ending Balance at Mar. 31, 2024	$ 669,563	$ 206	$ 1,692,526	$ (1,023,169)