Quarterly report pursuant to Section 13 or 15(d)

Equity Incentive Plans and Stock-Based Compensation - RSUs Activity (Details)

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Equity Incentive Plans and Stock-Based Compensation - RSUs Activity (Details) - Restricted stock units - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Dec. 31, 2023
Dec. 31, 2022
Number of Shares        
Balance as of beginning of period (in shares) 20,066 9,623    
Granted (in shares) 1,133 4,180    
Released (in shares) (1,668) (400)    
Cancelled (in shares) (1,271) (948)    
Balance as of end of period (in shares) 18,260 12,455    
Expected to vest (in shares) 18,260 12,455    
Weighted-Average Grant Date Fair Value        
Balance as of beginning of period (in dollars per share) $ 1.80 $ 3.65 $ 1.94 $ 4.47
Granted (in dollars per share) 0.35 2.11    
Released (in dollars per share) 2.41 5.55    
Cancelled (in dollars per share) 1.92 4.37    
Balance as of end of period (in dollars per share) 1.80 3.65    
Expected to vest (in dollars per share) $ 1.80 $ 3.65    
Aggregate Intrinsic Value        
Balance as of beginning of period $ 7,978 $ 17,225    
Granted 393 8,819    
Released 444 1,300    
Cancelled 480 2,520    
Balance as of end of period 8,319 28,274    
Expected to vest $ 8,319 $ 28,274