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Condensed Consolidated Statements of Stockholders' Deficit (Parenthetical) - shares shares in Thousands | 3 Months Ended | 9 Months Ended
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Sep. 30, 2023 | Jun. 30, 2023 | Mar. 31, 2023 | Sep. 30, 2022 | Jun. 30, 2022 | Mar. 31, 2022 | Sep. 30, 2023 | Sep. 30, 2022
Statement of Stockholders' Equity [Abstract] |  |  |  |  |  |  |  |
Employee stock purchase plan sales, net (in shares) | 162 |  | 176 | 145 |  | 115 | 338 | 260
Exercise of stock options, net (in shares) | 149 | 608 | 801 | 390 | 51 | 1,108 |  |
Exercise of warrants (in shares) |  |  |  |  | 253 |  |  |

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