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Stock-Based Awards - Compensation (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Stock-based compensation expense
Stock-based compensation expense	$ 5,948	$ 4,188	$ 19,276	$ 10,226
Unrecognized stock-based compensation expense, options	35,600		35,600
Unrecognized stock-based compensation expense, RSUs	21,700		21,700
Cost of revenue
Stock-based compensation expense
Stock-based compensation expense	347	307	1,119	837
Research and development
Stock-based compensation expense
Stock-based compensation expense	3,072	1,400	9,168	2,228
General and administrative
Stock-based compensation expense
Stock-based compensation expense	$ 2,529	$ 2,481	$ 8,989	$ 7,161
Options to purchase common stock
Stock-based compensation expense
Weighted average recognition period unrecognized stock-based compensation cost (in years)			3 years 1 month 6 days
Restricted stock unit awards
Stock-based compensation expense
Weighted average recognition period unrecognized stock-based compensation cost (in years)			2 years 9 months 18 days

X

- Definition

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

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 718
-SubTopic 10
-Name Accounting Standards Codification
-Section S99
-Paragraph 1
-Subparagraph (SAB Topic 14.F)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479830/718-10-S99-1

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
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+ References

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Amount of cost to be recognized for nonvested award under share-based payment arrangement. Excludes share and unit options.

+ References

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