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CONSOLIDATED STATEMENTS OF OPERATIONS - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Statement [Abstract]      
Revenue $ 73,481 $ 65,047 $ 85,494
Costs and expenses      
Cost of revenue 55,273 51,697 53,837
Research and development 64,776 64,912 49,312
Selling, general and administrative 49,726 63,969 47,698
Lease impairment 5,565    
Restructuring and other charges 8,077    
Total costs and expenses 183,417 180,578 150,847
Loss from operations (109,936) (115,531) (65,353)
Interest income 5,901 2,396 367
Interest expense (110) (201) (184)
Other income (expense), net (4,068) 61 (42)
Loss before income taxes (108,213) (113,275) (65,212)
Provision for income taxes 83 40 14
Net loss $ (108,296) $ (113,315) $ (65,226)
Net loss per share, basic $ (2.25) $ (2.48) $ (1.49)
Net loss per share, diluted $ (2.25) $ (2.48) $ (1.49)
Weighted-average shares outstanding, basic 48,175,201 45,704,805 43,886,730
Weighted-average shares outstanding, diluted 48,175,201 45,704,805 43,886,730