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Stock-based Compensation - Schedule of Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Consulting expense	$ 1,735	$ 2,577	$ 3,178	$ 4,297
Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Consulting expense	70	92	145	188
RSUs & RSAs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Consulting expense	1,665	2,499	3,033	4,099
ESPP
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Consulting expense	0	(14)	0	10
Research and development expenses
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Consulting expense	297	681	224	1,157
Selling, general and administrative expenses
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Consulting expense	$ 1,438	$ 1,896	$ 2,954	$ 3,140

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- Definition

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

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