Stock-Based Compensation - Stock-based Compensation Expense (Details) - USD ($) $ in Thousands |
3 Months Ended | |
|---|---|---|
Mar. 31, 2024 |
Mar. 31, 2023 |
|
| Total stock-based compensation expense | $ 4,524 | $ 2,552 |
| Cost of Revenue | ||
| Total stock-based compensation expense | 64 | |
| Research and development | ||
| Total stock-based compensation expense | 1,011 | 581 |
| General and administrative | ||
| Total stock-based compensation expense | $ 3,449 | $ 1,971 |