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Stock-Based Compensation - Summary of Stock-Based Compensation Expense by Function (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Stock Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense	$ 14,051	$ 19,433	$ 14,378
Costs of revenues
Stock Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense	1,761	1,922	1,414
Research and development
Stock Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense	4,870	5,256	4,064
Selling, general, and administrative
Stock Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense	$ 7,420	$ 12,255	$ 8,900

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- Definition

Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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