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CONSOLIDATED STATEMENTS OF CASH FLOWS - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Cash flows from operating activities:      
Net loss $ (108,296) $ (113,315) $ (65,226)
Adjustments to reconcile net loss to net cash used in operating activities      
Stock-based compensation expense 14,051 19,433 14,378
Depreciation and amortization 11,296 8,432 6,014
Noncash operating lease cost 1,859 4,446 2,950
Amortization of premium (discount) on short-term investments (2,000) 57 2,031
Noncash restructuring and other charges 3,605    
Noncash lease impairment expense 5,565    
Other 153 103 169
Changes in operating assets and liabilities      
Accounts receivable (1,088) 1,825 (12,118)
Inventory and other deferred costs (1,934) (2,982) 29
Prepaid expenses and other assets 3,748 484 (2,658)
Accounts payable 5,178 3,089 (1,457)
Accrued and other current liabilities 742 (1,479) 3,365
Contract liabilities 5,952 (2,718) (17,052)
Operating lease liabilities 894 12,811 (962)
Other long-term liabilities (10) (419) (291)
Net cash used in operating activities (56,258) (70,233) (70,828)
Cash flows from investing activities:      
Purchases of available-for-sale debt securities (103,945) (121,490) (267,128)
Proceeds from maturities of available-for-sale debt securities 127,955 223,923 213,083
Proceeds from sales of available-for-sale debt securities     5,059
Purchases of property and equipment (10,911) (49,896) (11,083)
Net cash provided by (used in) investing activities 13,099 52,537 (60,069)
Cash flows from financing activities:      
Proceeds from public offerings, net of underwriting discounts and commissions     162,258
Payments of costs related to public offerings     (342)
Proceeds from sales of common stock under ATM facility, net of commissions 3,513    
Proceeds from loans 3,438 1,194 5,167
Repayments of loans (3,264) (2,293) (1,857)
Proceeds from exercise of equity awards 1,344 2,465 4,474
Net cash provided by financing activities 11,031 1,366 169,700
Effect of exchange rates on cash, cash equivalents and restricted cash (16) (127) 47
Net change in cash, cash equivalents and restricted cash (32,144) (16,457) 38,850
Cash, cash equivalents and restricted cash, beginning of period 90,918 107,375 68,525
Cash, cash equivalents and restricted cash, end of period 58,774 90,918 107,375
Reconciliation of cash, cash equivalents and restricted cash to the consolidated balance sheets:      
Cash and cash equivalents 56,984 89,128 105,585
Restricted cash, included in other long-term assets 1,790 1,790 1,790
Total cash, cash equivalents and restricted cash 58,774 90,918 107,375
Supplemental cash flow information:      
Cash paid for income taxes, net of refunds 64 47 39
Acquisition of property and equipment included in accounts payable and accrued liabilities 104 $ 3,917 $ 3,006
Tempus Warrants      
Adjustments to reconcile net loss to net cash used in operating activities      
Noncash charges related to liability 4,027    
Cash flows from financing activities:      
Proceeds from issuance of Warrants $ 6,000