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Warrant Transaction Agreements - Amazon.com, Inc. Transaction Agreement (Details)
$ in Millions
3 Months Ended 9 Months Ended 12 Months Ended
Aug. 24, 2022
USD ($)
$ / shares
D
shares
Sep. 30, 2023
USD ($)
$ / shares
Sep. 30, 2022
USD ($)
Sep. 30, 2023
USD ($)
$ / shares
shares
Sep. 30, 2022
USD ($)
shares
Dec. 31, 2022
shares
Jun. 30, 2023
USD ($)
shares
Dec. 31, 2021
shares
Apr. 30, 2017
shares
Apr. 04, 2017
shares
Class of Warrant or Right [Line Items]                    
Minimum percentage of warrants vested and exercisable automatically       60.00%            
Warrants issued with the Amazon, Inc transaction agreement                    
Class of Warrant or Right [Line Items]                    
Shares of common stock that can be purchased from warrants issued (in shares)                 55,286,696 55,286,696
Reduction in revenue | $       $ 8.4 $ 10.4          
Number of warrants exercised (in shares)       34,917,912 17,461,994          
Warrant shares vested (in shares)               55,286,696    
Warrants issued with the Amazon, Inc transaction agreement | Amazon                    
Class of Warrant or Right [Line Items]                    
Number of warrants exercised (in shares)       34,917,912   24,704,450        
Tranche one of warrants issued with the Amazon.com, Inc transaction agreement                    
Class of Warrant or Right [Line Items]                    
Warrant charge capitalized | $   $ 19.5   $ 19.5            
Tranche two of warrants issued with the Amazon.com, Inc. Transaction Agreement                    
Class of Warrant or Right [Line Items]                    
Warrant shares vested (in shares)             1,000,000      
Warrant charge capitalized | $             $ 20.4      
Contract asset | $   13.8   13.8            
Tranche three of warrants issued with the Amazon.com, Inc. Transaction Agreement                    
Class of Warrant or Right [Line Items]                    
Contract asset | $   3.8   3.8            
Tranche Three Of Warrant Issued With Amazon                    
Class of Warrant or Right [Line Items]                    
Contract asset | $   1,000.0   1,000.0            
Contract liability | $   2.4   2.4            
Warrant Issued With Amazon                    
Class of Warrant or Right [Line Items]                    
Cash payments to be received under agreement | $ $ 2,100.0                  
Warrant percentage weighted average share price 90.00%                  
Warrant Issued With Amazon | Vesting of First Warrants Shares                    
Class of Warrant or Right [Line Items]                    
Number of warrants exercisable 9,000,000                  
Warrant shares vested (in shares) 9,000,000                  
Exercise price of warrants (in dollars per share) | $ / shares $ 22.9841                  
Fair value of warrants per share | $ / shares $ 20.36                  
Warrant Issued With Amazon | Vesting of Remaining Warrants Shares                    
Class of Warrant or Right [Line Items]                    
Warrant shares vested (in shares) 7,000,000                  
Warrant Issued With Amazon | Vest in multiple tranches                    
Class of Warrant or Right [Line Items]                    
Shares of common stock that can be purchased from warrants issued (in shares) 15,000,000                  
Vesting period 7 years                  
Warrant shares vested (in shares) 15,000,000                  
2022 Amazon transaction agreement                    
Class of Warrant or Right [Line Items]                    
Shares of common stock that can be purchased from warrants issued (in shares) 16,000,000                  
Reduction in revenue | $   $ 1.6 $ 1.8 $ 4.3 $ 1.8          
Warrant shares vested (in shares) 1,000,000                  
Class Of Warrant Or Right Exercisable on Vesting Threshold Trading Days | D 30                  
Warrant charge capitalized | $ $ 20.4                  
2022 Amazon transaction agreement | Vest immediately upon issuance                    
Class of Warrant or Right [Line Items]                    
Warrant shares vested (in shares) 1,000,000                  
2022 Amazon transaction agreement | Tranches 1-3 | Risk free interest rate                    
Class of Warrant or Right [Line Items]                    
Warrants and rights outstanding measurement input 0.0315                  
2022 Amazon transaction agreement | Tranches 1-3 | Volatility                    
Class of Warrant or Right [Line Items]                    
Warrants and rights outstanding measurement input 0.7500                  
2022 Amazon transaction agreement | Tranches 1-3 | Expected average term                    
Class of Warrant or Right [Line Items]                    
Expected average term 7 years                  
2022 Amazon transaction agreement | Tranches 1-3 | Exercise price                    
Class of Warrant or Right [Line Items]                    
Warrants and rights outstanding measurement input | $ / shares 22.98                  
2022 Amazon transaction agreement | Tranches 1-3 | Stock price                    
Class of Warrant or Right [Line Items]                    
Warrants and rights outstanding measurement input | $ / shares 20.36                  
2022 Amazon transaction agreement | Tranche 4 | Risk free interest rate                    
Class of Warrant or Right [Line Items]                    
Warrants and rights outstanding measurement input   0.0450   0.0450            
2022 Amazon transaction agreement | Tranche 4 | Volatility                    
Class of Warrant or Right [Line Items]                    
Warrants and rights outstanding measurement input   0.7000   0.7000            
2022 Amazon transaction agreement | Tranche 4 | Expected average term                    
Class of Warrant or Right [Line Items]                    
Expected average term       4 years            
2022 Amazon transaction agreement | Tranche 4 | Exercise price                    
Class of Warrant or Right [Line Items]                    
Warrants and rights outstanding measurement input | $ / shares   6.84   6.84            
2022 Amazon transaction agreement | Tranche 4 | Stock price                    
Class of Warrant or Right [Line Items]                    
Warrants and rights outstanding measurement input | $ / shares   7.60   7.60