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Leases - Narrative (Details) $ in Thousands | 1 Months Ended | 3 Months Ended | 12 Months Ended |  |
--- | --- | --- | --- | --- | ---
Nov. 30, 2020 USD ($) ft² renewal_option | Mar. 31, 2023 USD ($) ft² | Dec. 31, 2023 USD ($) ft² renewal_option lease_agreement | Dec. 31, 2022 USD ($) | Dec. 31, 2021 USD ($) | Aug. 31, 2023 USD ($) ft² | May 31, 2021 USD ($)
Lessee, Lease, Description [Line Items] |  |  |  |  |  |  |
Number of lease agreements | lease_agreement |  |  | 3 |  |  |  |
Right-of-use assets |  |  | $ 5,589 | $ 9,295 |  |  |
Operating lease, liability |  |  | 6,160 | 9,749 |  |  |
Sublease Income |  |  | 800 |  |  |  |
Right-of-use assets obtained in exchange for lease obligations |  |  | $ 339 | $ 0 | $ 1,604 |  |
Waltham, Massachusetts |  |  |  |  |  |  |
Lessee, Lease, Description [Line Items] |  |  |  |  |  |  |
Office space area (sq ft) | ft² |  |  |  |  |  | 4,247 |
Waltham facility |  |  |  |  |  |  |
Lessee, Lease, Description [Line Items] |  |  |  |  |  |  |
Number of options to extend | renewal_option |  |  | 1 |  |  |  |
Term of lease extension |  |  | 5 years |  |  |  |
Right-of-use assets |  |  |  |  |  | $ 300 | $ 1,600
Operating lease, liability |  |  |  |  |  | $ 300 | $ 1,600
Waltham facility | Minimum |  |  |  |  |  |  |
Lessee, Lease, Description [Line Items] |  |  |  |  |  |  |
Office space area (sq ft) | ft² |  |  | 17,111 |  |  |  |
Fremont facility | Maximum |  |  |  |  |  |  |
Lessee, Lease, Description [Line Items] |  |  |  |  |  |  |
Office space area (sq ft) | ft² |  | 72,500 |  |  |  |  |
Milwaukee facility |  |  |  |  |  |  |
Lessee, Lease, Description [Line Items] |  |  |  |  |  |  |
Office space area (sq ft) | ft² | 4,768 |  |  |  |  |  |
Number of options to extend | renewal_option | 1 |  |  |  |  |  |
Term of lease extension | 5 years |  |  |  |  |  |
Existence of option to extend | true |  |  |  |  |  |
Right-of-use assets obtained in exchange for lease obligations | $ 400 |  |  |  |  |  |
Sublease Facility, Fremont California |  |  |  |  |  |  |
Lessee, Lease, Description [Line Items] |  |  |  |  |  |  |
Operating lease, impairment loss |  | $ 400 |  |  |  |  |
Sublease Facility, Fremont California | Minimum |  |  |  |  |  |  |
Lessee, Lease, Description [Line Items] |  |  |  |  |  |  |
Office space area (sq ft) | ft² |  | 21,644 |  |  |  |  |

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