Condensed Consolidated Statements of Operations - 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	$ 153,104	$ 146,819	$ 294,110	$ 281,104
Cost of revenue	48,884	47,207	96,976	83,102
Gross profit	104,220	99,612	197,134	198,002
Operating expenses:
Research and development	62,918	71,460	131,556	138,558
Selling, general and administrative	83,039	91,510	168,813	174,790
Total operating expenses	145,957	162,970	300,369	313,348
Loss from operations	(41,737)	(63,358)	(103,235)	(115,346)
Other income (expense):
Interest income	4,715	4,100	9,451	7,969
Interest expense	(1)	(5)	(2)	(24)
Other expense, net	(56)	(1,504)	(1,096)	(3,020)
Total other income	4,658	2,591	8,353	4,925
Loss before provision for income taxes	(37,079)	(60,767)	(94,882)	(110,421)
Provision for income taxes	818	1,647	2,964	2,740
Net loss	$ (37,897)	$ (62,414)	$ (97,846)	$ (113,161)
Net loss per share, basic (in dollars per share)	$ (0.32)	$ (0.53)	$ (0.82)	$ (0.97)
Net loss per share, diluted (in dollars per share)	$ (0.32)	$ (0.53)	$ (0.82)	$ (0.97)
Weighted-average shares of common stock used in computing net loss per share, basic (in shares)	120,066,972	116,707,672	119,461,485	116,166,776
Weighted-average shares of common stock used in computing net loss per share, diluted (in shares)	120,066,972	116,707,672	119,461,485	116,166,776