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Warrant Transaction Agreements - Walmart Stores, Inc. Transaction Agreement (Details) $ / shares in Units, $ in Thousands |  |  |  | 12 Months Ended |  |
--- | --- | --- | --- | --- | --- | ---
Oct. 30, 2023 | Jan. 01, 2019 | Jul. 20, 2017 USD ($) installment $ / shares shares | Dec. 31, 2023 USD ($) shares | Dec. 31, 2022 USD ($) shares | Dec. 31, 2021 USD ($) | Dec. 31, 2020 shares | Jul. 31, 2017 shares
Warrant Transaction Agreements |  |  |  |  |  |  |  |
Provision compared for common stock warrants |  |  |  | $ 25,028 | $ 38,698 | $ 6,142 |  |
Warrants issued with the Walmart Stores, Inc transaction agreement |  |  |  |  |  |  |  |
Warrant Transaction Agreements |  |  |  |  |  |  |  |
Shares of common stock that can be purchased from warrants issued (in shares) | shares |  |  | 55,286,696 |  |  |  |  | 55,286,696
Reduction in revenue |  |  |  | $ 5,900 | $ 7,100 | 6,100 |  |
Cash payments to be received under agreement |  |  | $ 200,000 |  |  |  |  |
Warrant shares vested (in shares) | shares |  |  |  | 34,917,912 | 27,643,347 |  |  |
Contract asset |  |  |  | $ 2,400 |  |  |  |
Number of warrants exercised (in shares) | shares |  |  |  | 13,094,217 | 13,094,217 |  |  |
Warrants issued with the Walmart Stores, Inc transaction agreement | Risk free interest rate |  |  |  |  |  |  |  |
Warrant Transaction Agreements |  |  |  |  |  |  |  |
Warrants and rights outstanding measurement input | 0.0473 | 0.0263 |  |  |  |  |  |
Warrants issued with the Walmart Stores, Inc transaction agreement | Volatility |  |  |  |  |  |  |  |
Warrant Transaction Agreements |  |  |  |  |  |  |  |
Warrants and rights outstanding measurement input | 0.7500 | 0.9500 |  |  |  |  |  |
Warrants issued with the Walmart Stores, Inc transaction agreement | Exercise price |  |  |  |  |  |  |  |
Warrant Transaction Agreements |  |  |  |  |  |  |  |
Warrants and rights outstanding measurement input | 0.0628 | 0.0212 |  |  |  |  |  |
Warrants issued with the Walmart Stores, Inc transaction agreement | Stock price |  |  |  |  |  |  |  |
Warrant Transaction Agreements |  |  |  |  |  |  |  |
Warrants and rights outstanding measurement input | 0.0570 | 0.0124 |  |  |  |  |  |
Tranche one of warrants issued with the Walmart Stores Inc transaction agreement |  |  |  |  |  |  |  |
Warrant Transaction Agreements |  |  |  |  |  |  |  |
Reduction in revenue |  |  | $ 10,900 |  |  |  |  |
Warrant shares vested (in shares) | shares |  |  |  |  |  |  | 5,819,652 |
Exercise price of warrants (in dollars per share) | $ / shares |  |  | $ 2.1231 |  |  |  |  |
Tranche two of warrants issued with the Walmart Stores, Inc. Transaction Agreement |  |  |  |  |  |  |  |
Warrant Transaction Agreements |  |  |  |  |  |  |  |
Cash payments to be received under agreement |  |  | $ 50,000 |  |  |  |  |
Warrant shares vested (in shares) | shares |  |  | 29,098,260 |  |  |  |  |
Number of installments | installment |  |  | 4 |  |  |  |  |
Number of shares per installment | shares |  |  | 7,274,565 |  |  |  |  |
Tranche three of warrants issued with the Walmart Stores, Inc. Transaction Agreement |  |  |  |  |  |  |  |
Warrant Transaction Agreements |  |  |  |  |  |  |  |
Shares of common stock that can be purchased from warrants issued (in shares) | shares |  |  | 20,368,784 |  |  |  |  |
Cash payments to be received under agreement |  |  | $ 50,000 |  |  |  |  |
Number of installments | installment |  |  | 8 |  |  |  |  |
Number of shares per installment | shares |  |  | 2,546,098 |  |  |  |  |
Exercise price of warrants (in dollars per share) | $ / shares |  |  | $ 6.28 |  |  |  |  |
Tranche one of warrants issued with the Amazon.com, Inc transaction agreement |  |  |  |  |  |  |  |
Warrant Transaction Agreements |  |  |  |  |  |  |  |
Contract asset |  |  |  | $ 19,400 |  |  |  |
Walmart | Expected average term |  |  |  |  |  |  |  |
Warrant Transaction Agreements |  |  |  |  |  |  |  |
Expected average term | 3 years 8 months 19 days | 8 years 6 months 18 days |  |  |  |  |  |
Walmart | Warrants issued with the Walmart Stores, Inc transaction agreement |  |  |  |  |  |  |  |
Warrant Transaction Agreements |  |  |  |  |  |  |  |
Number of warrants exercised (in shares) | shares |  |  |  | 13,094,217 | 13,094,217 |  |  |
Amazon | Tranche one of warrants issued with the Amazon.com, Inc transaction agreement |  |  |  |  |  |  |  |
Warrant Transaction Agreements |  |  |  |  |  |  |  |
Provision for common stock warrants |  |  |  | $ 400 | $ 400 | $ 500 |  |
Maximum | Warrants issued with the Walmart Stores, Inc transaction agreement |  |  |  |  |  |  |  |
Warrant Transaction Agreements |  |  |  |  |  |  |  |
Cash payments to be received under agreement |  |  | $ 600,000 |  |  |  |  |
Maximum | Tranche two of warrants issued with the Walmart Stores, Inc. Transaction Agreement |  |  |  |  |  |  |  |
Warrant Transaction Agreements |  |  |  |  |  |  |  |
Cash payments to be received under agreement |  |  | 200,000 |  |  |  |  |
Maximum | Tranche three of warrants issued with the Walmart Stores, Inc. Transaction Agreement |  |  |  |  |  |  |  |
Warrant Transaction Agreements |  |  |  |  |  |  |  |
Cash payments to be received under agreement |  |  | $ 400,000 |  |  |  |  |

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