Summary of Significant Accounting Policies - Narrative (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Reduction to sales and marketing expense	$ (19,815)	$ (19,446)
Cost of goods sold increase (decrease)	8,758	8,172
General and administrative	9,956	10,061
Decrease in research and development	(7,409)	(6,326)
Cash and cash equivalents balance outside of FDIC limit	$ 14,963
Revision of Prior Period, Reclassification, Adjustment
Reduction to sales and marketing expense		707
Cost of goods sold increase (decrease)		(2)
General and administrative		1,062
Decrease in research and development		353
Shipping and Handling | Revision of Prior Period, Change in Accounting Principle, Adjustment
Reduction to sales and marketing expense		1,465
Cost of goods sold increase (decrease)		$ 1,465