Significant Accounting Policies and Concentrations of Risk - Net Loss Per Share (Details) - shares shares in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Significant Accounting Policies and Concentration of Risk [Line Items]
Antidilutive securities excluded from computation of earnings per share, amount (in shares)	45,704	55,535
Outstanding stock options
Significant Accounting Policies and Concentration of Risk [Line Items]
Antidilutive securities excluded from computation of earnings per share, amount (in shares)	39,580	35,858
Unvested restricted stock unit awards
Significant Accounting Policies and Concentration of Risk [Line Items]
Antidilutive securities excluded from computation of earnings per share, amount (in shares)	6,124	4,654
Warrants to purchase common stock
Significant Accounting Policies and Concentration of Risk [Line Items]
Antidilutive securities excluded from computation of earnings per share, amount (in shares)	0	15,023