Stock-Based Compensation - 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
Stock-Based Compensation
Stock-based compensation expense	$ 3,096	$ 2,578	$ 5,739	$ 4,744
Cost of revenue
Stock-Based Compensation
Stock-based compensation expense	202	140	373	255
Research and development expenses
Stock-Based Compensation
Stock-based compensation expense	900	732	1,649	1,327
Selling, general and administrative expenses
Stock-Based Compensation
Stock-based compensation expense	$ 1,994	$ 1,706	$ 3,717	$ 3,162