Significant Accounting Policies and Concentrations of Risk - Net Loss Per Share (Details) - shares shares in Thousands	6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023
Significant Accounting Policies and Concentration of Risk [Line Items]
Antidilutive securities excluded from computation of earnings per share, amount (in shares)	44,999	55,208
Outstanding stock options
Significant Accounting Policies and Concentration of Risk [Line Items]
Antidilutive securities excluded from computation of earnings per share, amount (in shares)	39,013	35,564
Unvested restricted stock unit awards
Significant Accounting Policies and Concentration of Risk [Line Items]
Antidilutive securities excluded from computation of earnings per share, amount (in shares)	5,986	4,621
Warrants to purchase common stock
Significant Accounting Policies and Concentration of Risk [Line Items]
Antidilutive securities excluded from computation of earnings per share, amount (in shares)	0	15,023