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Basis of Presentation and Summary of Significant Accounting Policies - Condensed Consolidated Balance Sheet Restatement (Details) - USD ($)
$ in Thousands
Sep. 30, 2023
Jun. 30, 2023
Dec. 31, 2022
Sep. 30, 2022
Jun. 30, 2022
Dec. 31, 2021
Error Corrections and Prior Period Adjustments Restatement [Line Items]            
Deferred revenues, net of current portion $ 11,133   $ 21,406      
Deferred tax liabilities, net 13,517   25,293      
Total liabilities 312,188   397,419      
Accumulated deficit (610,056)   (433,396)      
Total stockholders' equity 47,791 $ 54,838 $ 155,252 $ 150,641 $ 419,888 $ 422,491
As Previously Reported            
Error Corrections and Prior Period Adjustments Restatement [Line Items]            
Deferred revenues, net of current portion 22,580          
Deferred tax liabilities, net 12,047          
Total liabilities 322,165          
Accumulated deficit (620,033)          
Total stockholders' equity 37,814 52,770        
Adjustments            
Error Corrections and Prior Period Adjustments Restatement [Line Items]            
Deferred revenues, net of current portion (11,447)          
Deferred tax liabilities, net 1,470          
Total liabilities (9,977)          
Accumulated deficit 9,977          
Total stockholders' equity $ 9,977 $ 2,068