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Stock-Based Awards - Compensation (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2024 | Sep. 30, 2023 | Sep. 30, 2024 | Sep. 30, 2023
Stock-based compensation expense |  |  |  |
Total stock-based compensation expense | $ 3,004 | $ 5,948 | $ 7,996 | $ 19,276
Unrecognized stock-based compensation expense, options | 11,500 |  | 11,500 |
Unrecognized stock-based compensation expense, RSUs | 9,300 |  | 9,300 |
Cost of revenue |  |  |  |
Stock-based compensation expense |  |  |  |
Total stock-based compensation expense | 232 | 347 | 707 | 1,119
Research and development |  |  |  |
Stock-based compensation expense |  |  |  |
Total stock-based compensation expense | 1,124 | 3,072 | 2,192 | 9,168
General and administrative |  |  |  |
Stock-based compensation expense |  |  |  |
Total stock-based compensation expense | $ 1,648 | $ 2,529 | $ 5,097 | $ 8,989
Options to purchase common stock |  |  |  |
Stock-based compensation expense |  |  |  |
Weighted average recognition period unrecognized stock-based compensation cost (in years) |  |  | 2 years 1 month 6 days |
Restricted stock unit awards |  |  |  |
Stock-based compensation expense |  |  |  |
Weighted average recognition period unrecognized stock-based compensation cost (in years) |  |  | 1 year 10 months 24 days |

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- 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 -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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