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Certain Balance Sheet Items - Property and Equipment, net (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Sep. 30, 2024
Sep. 30, 2023
Dec. 31, 2023
Property, Plant and Equipment [Line Items]          
Property and equipment, gross $ 63,788   $ 63,788   $ 57,769
Accumulated depreciation and amortization (23,812)   (23,812)   (19,661)
Subtotal 39,976   39,976   38,108
Right of use of assets 34,514   34,514   36,836
Total property and equipment, net 74,490   74,490   74,944
Depreciation and amortization 2,600 $ 2,700 7,610 $ 8,152  
Right-of-use asset amortization 1,400 $ 1,400 4,300 $ 4,200  
Research equipment          
Property, Plant and Equipment [Line Items]          
Property and equipment, gross 8,621   8,621   8,588
Manufacturing equipment          
Property, Plant and Equipment [Line Items]          
Property and equipment, gross 38,762   38,762   32,472
Computer and office equipment          
Property, Plant and Equipment [Line Items]          
Property and equipment, gross 9,410   9,410   9,722
Leasehold improvements          
Property, Plant and Equipment [Line Items]          
Property and equipment, gross $ 6,995   $ 6,995   $ 6,987