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Certain Balance Sheet Items - Property and Equipment, net (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Dec. 31, 2023
Property, Plant and Equipment [Line Items]          
Property and equipment, gross $ 62,448   $ 62,448   $ 57,769
Accumulated depreciation and amortization (22,239)   (22,239)   (19,661)
Subtotal 40,209   40,209   38,108
Right of use of assets 34,791   34,791   36,836
Total property and equipment, net 75,000   75,000   74,944
Depreciation and amortization 2,600 $ 2,800 5,012 $ 5,415  
Right-of-use asset amortization 1,400 $ 1,400 2,900 $ 2,800  
Research equipment          
Property, Plant and Equipment [Line Items]          
Property and equipment, gross 8,796   8,796   8,588
Manufacturing equipment          
Property, Plant and Equipment [Line Items]          
Property and equipment, gross 37,427   37,427   32,472
Computer and office equipment          
Property, Plant and Equipment [Line Items]          
Property and equipment, gross 9,183   9,183   9,722
Leasehold improvements          
Property, Plant and Equipment [Line Items]          
Property and equipment, gross $ 7,042   $ 7,042   $ 6,987