CONDENSED CONSOLIDATED STATEMENTS OF OPERATIONS (unaudited) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Income Statement [Abstract]
Revenue	$ 22,580	$ 16,699	$ 42,105	$ 35,559
Costs and expenses
Cost of revenue	14,543	11,907	28,575	26,037
Research and development	12,957	17,852	25,728	34,425
Selling, general and administrative	11,973	12,134	23,575	26,231
Restructuring and other charges		152		4,037
Total costs and expenses	39,473	42,045	77,878	90,730
Loss from operations	(16,893)	(25,346)	(35,773)	(55,171)
Interest income	1,136	1,465	2,495	2,718
Interest expense	(9)	(39)	(18)	(86)
Other income (expense), net	2,968	1	7,537	(25)
Loss before income taxes	(12,798)	(23,919)	(25,759)	(52,564)
Provision for income taxes	4	36	11	50
Net loss	$ (12,802)	$ (23,955)	$ (25,770)	$ (52,614)
Net loss per share, basic	$ (0.24)	$ (0.5)	$ (0.5)	$ (1.11)
Net loss per share, diluted	$ (0.24)	$ (0.5)	$ (0.5)	$ (1.11)
Weighted-average shares outstanding, basic	52,394,678	47,669,513	51,536,632	47,204,891
Weighted-average shares outstanding, diluted	52,394,678	47,669,513	51,536,632	47,204,891