TuSimple (TSPH) 10-Q 17 Jul 23 2022 Q3 Quarterly report Financial data

Cover

Cover - shares	9 Months Ended
	Sep. 30, 2022	Jun. 30, 2023
Document Information [Line Items]
Document Type	10-Q
Document Quarterly Report	true
Document Period End Date	Sep. 30, 2022
Document Transition Report	false
Entity File Number	001-40326
Entity Registrant Name	TuSimple Holdings Inc.
Entity Incorporation, State or Country Code	DE
Entity Tax Identification Number	86-2341575
Entity Address, Address Line One	9191 Towne Centre Drive
Entity Address, Address Line Two	Suite 600
Entity Address, City or Town	San Diego
Entity Address, State or Province	CA
Entity Address, Postal Zip Code	92122
City Area Code	619
Local Phone Number	916-3144
Title of 12(b) Security	Class A Common Stock, par value $0.0001 per share
Trading Symbol	TSP
Security Exchange Name	NASDAQ
Entity Current Reporting Status	No
Entity Interactive Data Current	Yes
Entity Filer Category	Non-accelerated Filer
Entity Small Business	false
Entity Emerging Growth Company	true
Entity Ex Transition Period	false
Entity Shell Company	false
Amendment Flag	false
Document Fiscal Year Focus	2022
Document Fiscal Period Focus	Q3
Entity Central Index Key	0001823593
Current Fiscal Year End Date	--12-31
Common Class A
Document Information [Line Items]
Entity Common Stock, Shares Outstanding		204,336,269
Common Class B
Document Information [Line Items]
Entity Common Stock, Shares Outstanding		24,000,000

Condensed Consolidated Balance

Condensed Consolidated Balance Sheets - USD ($) $ in Thousands	Sep. 30, 2022	Dec. 31, 2021
Current assets:
Cash and cash equivalents	$ 871,360	$ 1,337,586
Total short-term investments	197,786	0
Accounts receivable, net	2,988	1,599
Prepaid expenses and other current assets	18,582	13,995
Total current assets	1,090,716	1,353,180
Property and equipment, net	38,226	36,053
Operating lease right-of-use assets	46,370	0
Other assets	4,951	7,090
Total assets	1,180,263	1,396,323
Current liabilities:
Accounts payable	6,666	4,544
Amounts due to joint development partners	4,791	7,394
Accrued expenses and other current liabilities	40,412	41,698
Short-term debt	1,613	1,524
Capital lease liabilities, current	0	766
Operating lease liabilities, current	5,983	0
Total current liabilities	59,465	55,926
Capital lease liabilities, noncurrent	0	2,872
Operating lease liabilities, noncurrent	41,920	0
Long-term debt	4,086	5,543
Other liabilities	6,026	5,004
Total liabilities	111,497	69,345
Commitments and contingencies (Note 4)
Preferred Stock, Shares Issued	0	0
Preferred stock, shares outstanding (in shares)	0	0
Preferred stock, authorized (in shares)	100,000,000	100,000,000
Preferred stock, par value (in dollars per share)	$ 0.0001	$ 0.0001
Stockholders' equity:
Preferred stock, $0.0001 par value; 100,000,000 shares authorized as of December 31, 2021 and September 30, 2022; zero shares issued and outstanding as of December 31, 2021 and September 30, 2022	$ 0	$ 0
Common stock, $0.0001 par value; 4,876,000,000 Class A shares authorized as of December 31, 2021 and June 30, 2022; 197,833,195 and — Class A shares issued and outstanding as of December 31, 2021 and June 30, 2022, respectively; 24,000,000 Class B shares authorized as of December 31, 2021 and June 30, 2022; 24,000,000 Class B shares issued and outstanding as of December 31, 2021 and June 30, 2022	22	22
Additional paid-in-capital	2,544,499	2,464,730
Accumulated other comprehensive income (loss)	(4,436)	77
Accumulated deficit	(1,471,319)	(1,137,851)
Total stockholders’ equity	1,068,766	1,326,978
Total liabilities and stockholders’ equity	$ 1,180,263	$ 1,396,323

Condensed Consolidated Balanc_2

Condensed Consolidated Balance Sheets (Parenthetical) - $ / shares	Sep. 30, 2022	Dec. 31, 2021
Preferred stock, par value (in dollars per share)	$ 0.0001	$ 0.0001
Preferred stock, authorized (in shares)	100,000,000	100,000,000
Preferred Stock, Shares Issued	0	0
Preferred stock, shares outstanding (in shares)	0	0
Common stock, par value (in dollars per share)	$ 0.0001	$ 0.0001
Common Class A
Common stock, shares authorized (in shares)	4,876,000,000	4,876,000,000
Common stock, shares issued (in shares)	201,096,947	197,833,195
Common stock, shares outstanding (in shares)	201,096,947	197,833,195
Common Class B
Common stock, shares authorized (in shares)	24,000,000	24,000,000
Common stock, shares issued (in shares)	24,000,000	24,000,000
Common stock, shares outstanding (in shares)	24,000,000	24,000,000

Condensed Consolidated Statemen

Condensed Consolidated Statements of Operations - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021	Sep. 30, 2022	Sep. 30, 2021
Income Statement [Abstract]
Revenue	$ 2,653	$ 1,785	$ 7,511	$ 4,211
Cost of revenue	5,436	3,487	15,292	8,715
Gross loss	(2,783)	(1,702)	(7,781)	(4,504)
Operating expenses:
Research and development	84,931	84,506	248,608	204,774
Selling, general and administrative	31,119	29,741	85,351	86,166
Total operating expenses	116,050	114,247	333,959	290,940
Loss from operations	(118,833)	(115,949)	(341,740)	(295,444)
Change in fair value of warrants liability	0	0	0	(326,900)
Gain on loan extinguishment	0	0	0	4,183
Interest income	5,545	452	7,912	1,123
Other income (expense), net	127	7	169	(141)
Loss before provision for income taxes	(113,161)	(115,490)	(333,659)	(617,179)
Provision for income taxes	0	0	0	0
Net loss	(113,161)	(115,490)	(333,659)	(617,179)
Accretion of redeemable convertible preferred stock	0	0	0	(4,135)
Net loss attributable to common stockholders, basic	(113,161)	(115,490)	(333,659)	(621,314)
Net loss attributable to common stockholders, diluted	$ (113,161)	$ (115,490)	$ (333,659)	$ (621,314)
Net loss per share attributable to common stockholders, basic (in dollars per share)	$ (0.50)	$ (0.54)	$ (1.49)	$ (4.08)
Net loss per share attributable to common stockholders, diluted (in dollars per share)	$ (0.50)	$ (0.54)	$ (1.49)	$ (4.08)
Weighted-average shares used in computing net loss per share attributable to common stockholders, basic (in shares)	224,745,672	212,802,379	223,698,744	152,469,098
Weighted-average shares used in computing net loss per share attributable to common stockholders, diluted (in shares)	224,745,672	212,802,379	223,698,744	152,469,098

Condensed Consolidated Statem_2

Condensed Consolidated Statements of Comprehensive Loss - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021	Sep. 30, 2022	Sep. 30, 2021
Statement of Comprehensive Income [Abstract]
Net loss	$ (113,161)	$ (115,490)	$ (333,659)	$ (617,179)
Other comprehensive income (loss):
Unrealized net loss on available-for-sale securities	(2,086)	0	(2,086)	0
Foreign currency translation adjustment	(1,281)	(73)	(2,427)	63
Comprehensive loss	$ (116,528)	$ (115,563)	$ (338,172)	$ (617,116)

Condensed Consolidated Statem_3

Condensed Consolidated Statements of Redeemable Convertible Preferred Stock and Stockholders' Equity (Deficit) - USD ($) $ in Thousands	Total	Cumulative Effect, Period of Adoption, Adjustment	Initial Public Offering	Private Placement	Series E Redeemable Convertible Preferred Stock	Series E-2 Redeemable Convertible Preferred Stock	Common Stock	Common Stock Initial Public Offering	Common Stock Private Placement	Additional Paid-in Capital	Additional Paid-in Capital Initial Public Offering	Additional Paid-in Capital Private Placement	Accumulated Other Comprehensive Income (Loss)	Accumulated Deficit	Accumulated Deficit Cumulative Effect, Period of Adoption, Adjustment
Beginning Balance (in shares) at Dec. 31, 2020	102,074,703
Beginning Balance at Dec. 31, 2020	$ 664,791
Increase (Decrease) in Temporary Equity [Roll Forward]
Issuance of redeemable convertible preferred stock, net of issuance costs (in shares)					4,650,999
Issuance of redeemable convertible preferred stock, net of issuance costs					$ 61,631
Issuance of redeemable convertible preferred stock from the exercise of warrants (in shares)					9,477,073	4,331,644
Issuance of redeemable convertible preferred stock from the exercise of warrants					$ 379,084	$ 173,275
Accretion of redeemable convertible preferred stock to redemption value	$ 4,135
Ending Balance (in shares) at Mar. 31, 2021	120,534,419
Ending Balance at Mar. 31, 2021	$ 1,282,916
Beginning Balance (in shares) at Dec. 31, 2020							60,543,337
Beginning Balance at Dec. 31, 2020	(405,473)						$ 6			$ 0			$ (301)	$ (405,178)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock from exercise of options (in shares)							60,616
Issuance of common stock from exercise of options	1									1
Vesting of early exercised stock options	21									21
Accretion of redeemable convertible preferred stock to redemption value	(4,135)									(4,135)
Stock-based compensation	6,289									6,289
Foreign currency translation adjustment	911												911
Net loss	(385,160)													(385,160)
Ending Balance (in shares) at Mar. 31, 2021							60,603,953
Ending Balance at Mar. 31, 2021	$ (787,546)						$ 6			2,176			610	(790,338)
Beginning Balance (in shares) at Dec. 31, 2020	102,074,703
Beginning Balance at Dec. 31, 2020	$ 664,791
Ending Balance (in shares) at Sep. 30, 2021	0
Ending Balance at Sep. 30, 2021	$ 0
Beginning Balance (in shares) at Dec. 31, 2020							60,543,337
Beginning Balance at Dec. 31, 2020	(405,473)						$ 6			0			(301)	(405,178)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Unrealized loss on available-for-sale debt securities, net	0
Foreign currency translation adjustment	63
Net loss	(617,179)
Ending Balance (in shares) at Sep. 30, 2021							212,994,830
Ending Balance at Sep. 30, 2021	$ 1,410,039						$ 21			2,432,613			(238)	(1,022,357)
Beginning Balance (in shares) at Dec. 31, 2020	102,074,703
Beginning Balance at Dec. 31, 2020	$ 664,791
Beginning Balance (in shares) at Dec. 31, 2020							60,543,337
Beginning Balance at Dec. 31, 2020	(405,473)						$ 6			0			(301)	(405,178)
Ending Balance (in shares) at Dec. 31, 2021							221,833,195
Ending Balance at Dec. 31, 2021	$ 1,326,978	$ 191					$ 22			2,464,730			77	(1,137,851)	$ 191
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Accounting Standards Update [Extensible Enumeration]	Accounting Standards Update 2016-02 [Member]
Beginning Balance (in shares) at Mar. 31, 2021	120,534,419
Beginning Balance at Mar. 31, 2021	$ 1,282,916
Increase (Decrease) in Temporary Equity [Roll Forward]
Conversion of redeemable convertible preferred stock in connection with initial public offering (in shares)			(120,534,419)
Conversion of redeemable convertible preferred stock in connection with initial public offering			$ (1,282,916)
Ending Balance (in shares) at Jun. 30, 2021	0
Ending Balance at Jun. 30, 2021	$ 0
Beginning Balance (in shares) at Mar. 31, 2021							60,603,953
Beginning Balance at Mar. 31, 2021	(787,546)						$ 6			2,176			610	(790,338)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Vesting of early exercised stock options	21									21
Conversion of redeemable convertible preferred stock to common stock in connection with initial public offering (in shares)								120,534,419
Conversion of redeemable convertible preferred stock to common stock in connection with initial public offering			1,282,916					$ 12			$ 1,282,904
Issuance of common stock (in shares)								27,027,027	874,999
Issuance of common stock			$ 1,027,374	$ 35,000				$ 3			$ 1,027,371	$ 35,000
Stock-based compensation	52,509									52,509
Foreign currency translation adjustment	(775)												(775)
Net loss	(116,529)													(116,529)
Ending Balance (in shares) at Jun. 30, 2021							209,040,398
Ending Balance at Jun. 30, 2021	$ 1,492,970						$ 21			2,399,981			(165)	(906,867)
Ending Balance (in shares) at Sep. 30, 2021	0
Ending Balance at Sep. 30, 2021	$ 0
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock from exercise of options (in shares)							183,648
Issuance of common stock from exercise of options	529									529
Issuance of common stock related to release of RSU and SVAs (in shares)							3,770,784
Vesting of early exercised stock options	21									21
Stock-based compensation	32,082									32,082
Unrealized loss on available-for-sale debt securities, net	0
Foreign currency translation adjustment	(73)												(73)
Net loss	(115,490)													(115,490)
Ending Balance (in shares) at Sep. 30, 2021							212,994,830
Ending Balance at Sep. 30, 2021	1,410,039						$ 21			2,432,613			(238)	(1,022,357)
Beginning Balance (in shares) at Dec. 31, 2021							221,833,195
Beginning Balance at Dec. 31, 2021	1,326,978	191					$ 22			2,464,730			77	(1,137,851)	191
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock from exercise of options (in shares)							534,019
Issuance of common stock from exercise of options	871									871
Issuance of common stock related to release of RSU and SVAs (in shares)							537,980
Issuance of common stock under the Employee Stock Purchase Plan (in shares)							87,215
Issuance of common stock under the Employee Stock Purchase Plan	1,292									1,292
Vesting of early exercised stock options	21									21
Stock-based compensation	27,527									27,527
Foreign currency translation adjustment	199												199
Net loss	(111,903)													(111,903)
Ending Balance (in shares) at Mar. 31, 2022							222,992,409
Ending Balance at Mar. 31, 2022	1,245,176						$ 22			2,494,441			276	(1,249,563)
Beginning Balance (in shares) at Dec. 31, 2021							221,833,195
Beginning Balance at Dec. 31, 2021	$ 1,326,978	$ 191					$ 22			2,464,730			77	(1,137,851)	$ 191
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock under the Employee Stock Purchase Plan (in shares)	249,831
Unrealized loss on available-for-sale debt securities, net	$ (2,086)
Foreign currency translation adjustment	(2,427)
Net loss	(333,659)
Ending Balance (in shares) at Sep. 30, 2022							225,096,947
Ending Balance at Sep. 30, 2022	1,068,766						$ 22			2,544,499			(4,436)	(1,471,319)
Beginning Balance (in shares) at Mar. 31, 2022							222,992,409
Beginning Balance at Mar. 31, 2022	1,245,176						$ 22			2,494,441			276	(1,249,563)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock from exercise of options (in shares)							262,548
Issuance of common stock from exercise of options	687									687
Issuance of common stock related to release of RSU and SVAs (in shares)							937,573
Vesting of early exercised stock options	21									21
Stock-based compensation	25,151									25,151
Foreign currency translation adjustment	(1,345)												(1,345)
Net loss	(108,595)													(108,595)
Ending Balance (in shares) at Jun. 30, 2022							224,192,530
Ending Balance at Jun. 30, 2022	1,161,095						$ 22			2,520,300			(1,069)	(1,358,158)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock from exercise of options (in shares)							125,175
Issuance of common stock from exercise of options	152									152
Issuance of common stock related to release of RSU and SVAs (in shares)							616,626
Issuance of common stock under the Employee Stock Purchase Plan (in shares)							162,616
Issuance of common stock under the Employee Stock Purchase Plan	994									994
Vesting of early exercised stock options	21									21
Stock-based compensation	23,032									23,032
Unrealized loss on available-for-sale debt securities, net	(2,086)												(2,086)
Foreign currency translation adjustment	(1,281)												(1,281)
Net loss	(113,161)													(113,161)
Ending Balance (in shares) at Sep. 30, 2022							225,096,947
Ending Balance at Sep. 30, 2022	$ 1,068,766						$ 22			$ 2,544,499			$ (4,436)	$ (1,471,319)

Condensed Consolidated Statem_4

Condensed Consolidated Statements of Cash Flows - USD ($) $ in Thousands	9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021
Cash flows from operating activities:
Net loss	$ (333,659)	$ (617,179)
Adjustments to reconcile net loss to net cash used in operating activities:
Stock-based compensation	75,710	90,880
Depreciation and amortization	8,335	6,768
Noncash operating lease expense	3,931	0
Accretion of discount on short-term investments, net	(383)	0
Change in fair value of warrants liability	0	326,900
Gain on loan extinguishment	0	(4,183)
Other adjustments	122	0
Changes in operating assets and liabilities:
Accounts receivable	(1,545)	(560)
Prepaid expenses and other current assets	(3,738)	(12,114)
Other assets	2,279	(659)
Accounts payable	3,136	(313)
Amounts due to joint development partners	(2,603)	5,642
Accrued expenses and other current liabilities	(3,632)	16,488
Operating lease liabilities	(3,927)	0
Other liabilities	(17)	1,965
Net cash used in operating activities	(255,991)	(186,365)
Cash flows from investing activities:
Purchases of property and equipment	(9,809)	(12,218)
Purchases of short-term investments	(200,162)	0
Purchases of intangible assets	(196)	(302)
Proceeds from disposal of property and equipment	27	100
Net cash used in investing activities	(210,140)	(12,420)
Cash flows from financing activities:
Proceeds from issuance of redeemable convertible preferred stock, net of offering costs	0	54,693
Proceeds from the issuance of common stock under the Employee Stock Purchase Plan	2,286	0
Proceeds from exercise of warrants for redeemable convertible preferred stock	0	183,007
Proceeds from exercised stock options	1,710	782
Proceeds from issuance of common stock upon initial public offering, net of offering costs	0	1,030,965
Proceeds from issuance of common stock related to private placement	0	35,000
Return of guarantee deposit on related party loan	0	3,715
Principal payments on related party loan	0	(4,398)
Payment of third-party costs in connection with initial public offering	0	(2,812)
Principal payments on capital lease obligations	0	(586)
Principal payments on finance lease obligations	(929)	0
Principal payments on loans	(1,126)	(353)
Net cash provided by financing activities	1,941	1,300,013
Effect of exchange rate changes on cash, cash equivalents, and restricted cash	(1,931)	55
Net increase (decrease) in cash, cash equivalents, and restricted cash	(466,121)	1,101,283
Cash, cash equivalents, and restricted cash - beginning of period	1,339,092	312,351
Cash, cash equivalents, and restricted cash - end of period	872,971	1,413,634
Reconciliation of cash, cash equivalents, and restricted cash to the condensed consolidated balance sheets:
Cash and cash equivalents	871,360	1,412,128
Restricted cash included in prepaid expenses and other current assets	1,611	1,506
Total cash, cash equivalents, and restricted cash	872,971	1,413,634
Supplemental disclosure of cash flow information:
Cash paid for interest	681	575
Supplemental schedule of non-cash investing and financing activities:
Acquisitions of property and equipment included in liabilities	3,783	1,987
Accretion of redeemable convertible preferred stock	0	4,135
Vesting of early exercised stock options	63	63
Exercise of liability-classified warrants	0	369,352
Conversion of redeemable convertible preferred stock to common stock upon initial public offering	0	1,282,916
Issuance costs incurred in connection with initial public offering included in current liabilities	$ 0	$ 779

Description of Business and Sum

Description of Business and Summary of Significant Accounting Policies	9 Months Ended
	Sep. 30, 2022
Organization, Consolidation and Presentation of Financial Statements [Abstract]
Description of Business and Summary of Significant Accounting Policies	Description of Business and Summary of Significant Accounting Policies Description of Business TuSimple Holdings Inc. ("TuSimple" or the "Company") is a global autonomous driving technology company headquartered in San Diego, California, with operations in the United States ("U.S.") and Asia. Founded in 2015, TuSimple is developing a commercial-ready, fully autonomous (SAE Level 4) driving solution for long-haul heavy-duty trucks. Basis of Presentation and Consolidation The accompanying unaudited condensed consolidated financial statements (“Financial Statements”) have been prepared in accordance with accounting principles generally accepted in the U.S. (“GAAP”) and applicable rules and regulations of the Securities and Exchange Commission (“SEC”) regarding interim financial reporting. The Financial Statements include the accounts of the Company and its consolidated subsidiaries. All significant intercompany balances and transactions have been eliminated in consolidation. These Financial Statements should be read in conjunction with the audited consolidated financial statements and notes as of and for the year ended December 31, 2021 , included in the Company's Annual Report on Form 10-K. The condensed consolidated balance sheet as of December 31, 2021 was derived from the audited consolidated financial statements as of that date, but does not include all disclosures required by GAAP. In management’s opinion, the accompanying Financial Statements reflect all normal recurring adjustments necessary for their fair presentation. Other than described below, there have been no changes to the Company’s significant accounting policies described in the Annual Report on Form 10-K for the year ended December 31, 2021 that have had a material impact on the Company’s Financial Statements. Cash, Cash Equivalents, and Restricted Cash Cash and cash equivalents consist of cash in banks and highly liquid investments, primarily money market funds, commercial paper and U.S. government and agency securities, purchased with an original maturity of three months or less. Restricted cash is pledged as security for letters of credit or other collateral amounts established by the Company for certain lease obligations, customer deposits, corporate credit cards, and other contractual arrangements. Restricted cash is recorded as prepaid expenses and other current assets in the condensed consolidated balance sheets based on the term of the remaining restriction. Concentration of Credit Risk Cash and cash equivalents and short-term investments are potentially subject to concentrations of credit risk. The Company's investment policy limits the amount of credit exposure with any one financial institution or commercial issuer and sets requirements regarding credit rating and investment maturities to safeguard liquidity and minimize risk. The majority of our cash deposits exceed insured limits and are placed with financial institutions around the world that the Company believes are of high credit quality. The Company has not experienced any material losses related to these concentrations during the periods presented. Fair Value Measurements Fair value is defined as the price that would be received to sell an asset or paid to transfer a liability in an orderly transaction between market participants at the measurement date. The Company measures financial assets and liabilities at fair value at each reporting period using a fair value hierarchy which requires the Company to maximize the use of observable inputs and minimize the use of unobservable inputs when measuring fair value. A financial instrument’s classification within the fair value hierarchy is based upon the lowest level of input that is significant to the fair value measurement. The levels of inputs used to measure fair value are: • Level 1 — Observable inputs such as quoted prices in active markets for identical assets or liabilities. • Level 2 — Observable inputs other than Level 1 prices such as quoted prices for similar assets or liabilities in active markets, quoted prices in markets that are not active or inputs other than the quoted prices that are observable either directly or indirectly for the full term of the assets or liabilities. • Level 3 — Unobservable inputs in which there is little or no market data that are significant to the fair value of the assets or liabilities. The Company’s primary financial instruments include cash equivalents, short-term investments, accounts receivable, accounts payable, amounts due to joint development partners, accrued expenses, short-term and long-term debt. The estimated fair value of these instruments approximates their carrying value due to their short-term nature. Refer to Note 2. Investments and Fair Value Measurements for further information. Investments Debt Securities Accounting for the Company's debt securities is based on the legal form of the security, the Company's intended holding period for the security, and the nature of the transaction. Investments in debt securities are classified as available-for-sale and are initially recorded at fair value. Investments in debt securities include commercial paper, U.S. treasury securities, U.S. government agency securities, and corporate debt securities. Subsequent changes in fair value of available-for-sale debt securities are recorded in other comprehensive income (loss), net of tax. Interest on these debt securities and amortization of premiums and accretion of discounts are included in interest income on the condensed consolidated statements of operations. The Company considers its debt securities as available for use in current operations, including those with maturity dates beyond one year, and therefore classifies these securities as short-term investments on the condensed consolidated balance sheets. The Company evaluates its available-for-sale debt securities to determine whether there is a decline in the fair value below its amortized cost basis (an impairment) at each reporting period. This evaluation consists of several qualitative and quantitative factors regarding the severity and duration of the unrealized loss as well as the Company’s ability and intent to hold the investment until a forecasted recovery occurs. Factors considered include: recent financial results and operating trends; implied values in recent transactions of investee securities; other publicly available information that may affect the value of the Company’s investments; severity and length of the decline in value; and the Company’s strategy and intentions for holding the investment. Impairment of the Company’s debt securities is recognized in earnings when a decline in value has occurred that is deemed to be other than temporary, and the current fair value becomes the new cost basis for the security. If the Company does not intend to sell a security and it is not more likely than not that it will be required to sell the security before recovery, the unrealized loss is separated into an amount representing the credit loss, which is recognized in earnings, and the amount related to all other factors, which is recorded in accumulated other comprehensive income (loss). Leases The Company accounts for leases in accordance with Accounting Standards Codification ("ASC") 842, Leases ("ASC 842"), which requires lessees to recognize on-balance sheet and disclose key information about leasing arrangements. The Company adopted ASC 842 along with all applicable ASU clarifications and improvements on January 1, 2022 using the modified retrospective transition method and used the effective date as the date of initial application. Consequently, financial information is not updated and disclosures required under ASC 842 are not provided for periods before January 1, 2022. ASC 842 provides a number of optional practical expedients in transition. The Company elected the "package of practical expedients," which permits the Company not to reassess under ASC 842 its prior conclusions about lease identification, lease classification and initial direct costs. The Company determines if a contract contains a lease based on whether it has the right to obtain substantially all of the economic benefits from the use of an identified asset and whether it has the right to direct the use of an identified asset in exchange for consideration, which relates to an asset which the Company does not own. Right-of-use (“ROU”) assets represent the Company’s right to use an underlying asset for the lease term and lease liabilities represent the Company’s obligation to make lease payments arising from the lease. ROU assets are recognized as the lease liability, adjusted for lease incentives received. Lease liabilities are recognized at the present value of the future lease payments at the lease commencement date, net of lease incentive receivable. The interest rate used to determine the present value of the future lease payments is the Company’s incremental borrowing rate (“IBR”) because the interest rate implicit in most of the Company’s leases is not readily determinable. Lease payments may be fixed or variable, however, only fixed payments or in-substance fixed payments are included in the Company’s lease liability calculation. Variable lease payments are recognized in operating expenses in the period in which the obligation for those payments are incurred. The Company has lease agreements with lease and non-lease components and has elected to utilize the practical expedient to account for lease and non-lease components together as a single combined lease component. Additionally, the Company has determined that certain leases previously identified as build-to-suit leasing arrangements under legacy accounting, were derecognized pursuant to the transition guidance provided for build-to-suit leases in ASC 842. Accordingly, these leases have been reassessed as operating leases as of the adoption date under ASC 842, and are included on the condensed consolidated balance sheet as of September 30, 2022. The Company has leases that include one or more options to extend the lease term for up to five years and some of its leases include options to terminate the lease prior to the end of the agreed upon lease term. For purposes of calculating lease liabilities, lease terms include options to extend or terminate the lease when it is reasonably certain that the Company will exercise such options. Operating leases are included within operating lease ROU assets, operating lease liabilities, current, and operating lease liabilities, noncurrent on the Company's condensed consolidated balance sheet as of September 30, 2022. Finance leases are included in property and equipment, net, accrued expenses and other current liabilities, and other liabilities on the Company's condensed consolidated balance sheet as of September 30, 2022. The Company has elected not to present short-term leases on the consolidated balance sheet as these leases have a lease term of 12 months or less at lease inception and do not contain purchase options or renewal terms that the Company is reasonably certain to exercise. Adoption of the new lease standard on January 1, 2022 impacted the interim unaudited condensed consolidated financial statements as follows: (i) recognition of ROU assets of $32.9 million and lease liabilities of $35.1 million for operating leases, (ii) derecognition of build-to-suit lease assets and liabilities of $6.5 million and $4.4 million, respectively, with the net impact of $0.2 million recorded to accumulated deficit as of January 1, 2022, and (iii) reclassification of deferred rent and other liability balances of $2.5 million relating to its existing lease arrangements into the ROU asset balance as of January 1, 2022. The standard did not materially impact the condensed consolidated statement of operations and condensed consolidated statement of cash flows. Reclassifications Certain prior period balances have been reclassified to conform to the current period presentation in the condensed consolidated financial statements and the accompanying notes. Sales and marketing expense and general and administrative expense have been reclassified to selling, general and administrative expense. Interest income has been reclassified from other income (expense), net to interest income. Recently Adopted Accounting Pronouncements In February 2016, the Financial Accounting Standards Board ("FASB") issued Accounting Standards Update ("ASU") No. 2016-02, Leases , to require lessees to recognize all leases, with limited exceptions, on the balance sheet, while recognition on the statement of operations will remain similar to legacy lease accounting, ASC 840. Subsequently, the FASB issued ASU No. 2018-10, Codification Improvements to Topic 842 , ASU No. 2018-11, Targeted Improvements , ASU No. 2018-20, Narrow-Scope Improvements for Lessors , and ASU 2019-01, Codification Improvements , to clarify and amend the guidance in ASU No. 2016-02. As disclosed above, the Company adopted the ASUs on January 1, 2022 on a modified retrospective basis. Recently Issued Accounting Pronouncements There have been no recent accounting pronouncements since the filing of the Company's Annual Report on Form 10-K for the year ended December 31, 2021, that may have a material impact on the Company's unaudited condensed consolidated financial statements.

Investments and Fair Value Meas

Investments and Fair Value Measurements	9 Months Ended
	Sep. 30, 2022
Fair Value Disclosures [Abstract]
Investments and Fair Value Measurements	Investments and Fair Value Measurements Investments Investments in debt securities as of September 30, 2022 were as follows (in thousands): As of September 30, 2022 Amortized Cost Gross Unrealized Gross Unrealized Losses Fair Value Cash Equivalents Short-term Investments Available-for-sale debt securities: U.S. treasury securities $ 9,769 $ — $ (80) $ 9,689 $ — $ 9,689 U.S. government agency securities 105,097 3 (281) 104,819 80,317 24,502 Commercial paper 130,993 — (206) 130,787 76,704 54,083 Corporate debt securities 116,876 — (1,522) 115,354 5,842 109,512 Total $ 362,735 $ 3 $ (2,089) $ 360,649 $ 162,863 $ 197,786 The Company did not hold any investments in debt securities as of December 31, 2021. The fair value and amortized cost of the Company’s debt securities with a stated contractual maturity or redemption date were as follows (in thousands): September 30, 2022 Amortized Cost Fair Value Due in one year or less $ 255,526 $ 255,007 Due in one year through five years 107,209 105,642 Total $ 362,735 $ 360,649 As of September 30, 2022, investments in an unrealized loss position for which other-than-temporary impairments have not been recognized had an aggregate fair value of $320.3 million. None of these investments were in a continuous unrealized loss position for more than twelve months. The Company does not intend to sell these investments and it is not more likely than not that the Company will be required to sell these investments before recovery of their amortized cost basis. The Company anticipates that it will recover the entire amortized cost basis of these investments on or before maturity. During the three and nine months ended September 30, 2022, the Company did not recognize any other-than-temporary impairment losses on these securities. Interest income from cash and cash equivalents and short-term investments was $0.5 million and $1.1 million for the three and nine months ended September 30, 2021, and $5.5 million and $7.9 million for the three and nine months ended September 30, 2022, respectively. Fair Value Measurements The following table presents the Company’s assets and liabilities that are measured at fair value on a recurring basis and indicates the fair value hierarchy of the valuation (in thousands): As of September 30, 2022 Total Level 1 Level 2 Level 3 Assets: Cash equivalents: Money market funds $ 640,978 $ 640,978 $ — $ — U.S. government agency securities 80,317 — 80,317 — Commercial paper 76,704 — 76,704 — Corporate debt securities 5,842 — 5,842 — Total cash equivalents $ 803,841 $ 640,978 $ 162,863 $ — Short-term investments: U.S. treasury securities $ 9,689 $ 9,689 $ — $ — U.S. government agency securities 24,502 — 24,502 — Commercial paper 54,083 — 54,083 — Corporate debt securities 109,512 — 109,512 — Total short-term investments $ 197,786 $ 9,689 $ 188,097 $ — Total $ 1,001,627 $ 650,667 $ 350,960 $ — As of December 31, 2021 Total Level 1 Level 2 Level 3 Assets: Cash equivalents: Money market funds $ 1,077,550 $ 1,077,550 $ — $ — Total $ 1,077,550 $ 1,077,550 $ — $ — Warrants Liability In February and March 2021, TRATON Group (“TRATON”) and its subsidiary Navistar, Inc. (“Navistar”) exercised warrants to purchase 4,331,644 and 9,477,073 shares of Series E-2 and Series E redeemable convertible preferred stock at an exercise price of $11.31 and $14.14, resulting in proceeds of $49.0 million and $134.0 million, respectively. Immediately prior to their exercise, the fair value of the then existing warrants liability was remeasured using the Black-Scholes option-pricing model, resulting in a loss upon remeasurement of $326.9 million. The warrants exercised by TRATON represented only a portion of their total and the unexercised warrants expired as of the exercise date. As of September 30, 2022, there were no warrants outstanding. The Company used the following assumptions in the model: As of February 26, 2021 March 19, 2021 Fair value of underlying securities $40.00 $40.00 Expected volatility 62.95% 60.85% Expected term (in years) 1.76 0.79 Risk-free interest rate 0.14% 0.08%

Balance Sheet Components

Balance Sheet Components	9 Months Ended
	Sep. 30, 2022
Balance Sheet Related Disclosures [Abstract]
Balance Sheet Components	Balance Sheet Components Property and Equipment, Net Property and equipment, net as of December 31, 2021 and September 30, 2022, was as follows (in thousands): As of December 31, September 30, Electronic equipment $ 12,761 $ 14,690 Office and other equipment 9,423 15,195 Vehicles 21,043 18,912 Leasehold improvements 11,984 13,058 Buildings — 1,841 Construction in progress 5,258 2,788 Property and equipment, gross 60,469 66,484 Accumulated depreciation and amortization (24,416) (28,258) Property and equipment, net $ 36,053 $ 38,226 Depreciation and amortization expense was $2.3 million and $6.7 million for the three and nine months ended September 30, 2021, respectively, and $2.8 million and $8.3 million for the three and nine months ended September 30, 2022, respectively. As of December 31, 2021, property and equipment financed under capital leases was $3.3 million, net of accumulated amortization of $2.5 million. As of September 30, 2022, property and equipment under finance leases was $6.5 million, net of accumulated amortization of $1.1 million. Accrued Expenses and Other Current Liabilities Accrued expenses and other current liabilities as of December 31, 2021 and September 30, 2022 were as follows (in thousands): As of December 31, September 30, Accrued payroll $ 33,225 $ 27,036 Accrued information technology services 1,625 3,438 Accrued professional fees 1,938 1,769 Finance lease liabilities, current — 1,258 Other 4,910 6,911 Accrued expenses and other current liabilities $ 41,698 $ 40,412 Leases The balances for the operating and finance leases where the Company is the lessee are presented within the consolidated balance sheets as follows (in thousands): As of September 30, 2022 Operating leases: Operating lease right-of-use assets $ 46,370 Operating lease liabilities, current $ 5,983 Operating lease liabilities, noncurrent 41,920 Total operating lease liabilities $ 47,903 Finance leases: Property and equipment, at cost $ 7,667 Accumulated depreciation (1,123) Property and equipment, net $ 6,544 Accrued expenses and other current liabilities $ 1,258 Other liabilities 5,661 Total finance lease obligations $ 6,919 The components of lease expense were as follows (in thousands): Three Months Ended September 30, 2022 Nine Months Ended September 30, 2022 Operating lease expense: Operating lease expense (1) $ 2,105 $ 6,395 Finance lease expense: Amortization of leased assets $ 384 $ 1,111 Interest on lease liabilities 139 438 Total finance lease expense $ 523 $ 1,549 Total lease expense $ 2,628 $ 7,944 (1) Includes short-term leases and variable lease costs, which are immaterial. Other information related to leases where the Company is the lessee is as follows: As of September 30, 2022 Weighted-average remaining lease term: Operating leases 8.6 years Finance leases 5.6 years Weighted-average discount rate: Operating leases 4.4 % Finance leases 9.1 % Supplemental cash flow information related to leases where the Company is the lessee is as follows (in thousands): Nine Months Ended September 30, 2022 Cash paid for amounts included in the measurement of lease liabilities: Operating cash flows from operating leases $ 5,369 Operating cash flows from finance leases (interest payments) $ 326 Financing cash flows from finance leases $ 929 Right-of-use assets obtained in exchange for lease obligations: Operating lease liabilities $ 48,404 Finance lease liabilities $ 7,772 As of September 30, 2022, the maturities of the Company's operating and financing lease liabilities (excluding short-term leases) are as follows (in thousands): Operating Leases Finance Leases Remainder of 2022 $ 1,432 $ 453 2023 7,993 1,664 2024 7,592 1,669 2025 7,452 2,468 2026 7,658 421 Thereafter 28,106 1,911 Total minimum lease payments 60,233 8,586 Less: lease incentive receivable (1) (1,488) — Less: imputed interest (10,842) (1,667) Present value of minimum lease payments 47,903 6,919 Less: current portion (5,983) (1,258) Lease obligations, noncurrent $ 41,920 $ 5,661 (1)Lease incentives receivable represent amounts relating to the Company's leasehold improvements that will be paid by the landlord pursuant to lease provisions with relevant landlord. As of September 30, 2022, the Company has additional leases for facilities that have not yet commenced with lease obligations of $0.7 million. These leases will commence between 2022 and 2023 with lease terms of four five Supplemental Information for Comparative Periods Prior to the adoption of ASC 842, future minimum lease payments for non-cancelable operating and capital leases as of December 31, 2021 were as follows (in thousands): Operating Leases Capital Leases 2022 $ 7,660 $ 1,253 2023 7,891 978 2024 5,126 963 2025 3,435 1,761 2026 3,049 — Thereafter 22,524 — Total minimum lease payments $ 49,685 4,955 Amount representing interest (1,317) Present value of minimum lease payments $ 3,638

Commitments and Contingencies

Commitments and Contingencies	9 Months Ended
	Sep. 30, 2022
Commitments and Contingencies Disclosure [Abstract]
Commitments and Contingencies	Commitments and Contingencies Litigation and Legal Proceedings Except as described below, the Company believes it is not presently a party to any litigation the outcome of which, if determined adversely against the Company, would individually or in the aggregate have a material adverse effect on the Company’s business, financial condition, cash flows, or results of operations. Shareholder Securities Litigation On August 31, 2022, a securities class action complaint (the “August 2022 Action”) was filed, in the United States District Court for the Southern District of California, against the Company and certain of its current and former directors and officers (Xiaodi Hou, Mo Chen, Cheng Lu, Patrick Dillon, and James Mullen), and the underwriters who underwrote its IPO, on behalf of a putative class of stockholders who acquired its securities from April 15, 2021 through August 1, 2022. Dicker v. TuSimple Holdings, Inc. et al., 3:22-cv-01300-JES-MSB (S. D. Cal.). The complaint filed in the August 2022 Action alleges, among other things, that the Company and certain of its current and former directors and officers violated Sections 11 and 15 of the Securities Act and Sections 10(b) and 20(a) of the Exchange Act by making materially false or misleading statements, or failing to disclose information it was required to disclose, regarding the Company's autonomous driving technology. The complaint seeks unspecified monetary damages on behalf of the putative class and an award of costs and expenses, including reasonable attorneys’ fees. The complaint in the August 2022 Action may be amended at a future date to add additional or alternate allegations regarding liability or alternate or additional claims for relief. At this time, the Company is unable to estimate the potential loss or range of loss, if any, associated with this, or any similar, lawsuit, which could be material.

Stock-Based Compensation

Stock-Based Compensation	9 Months Ended
	Sep. 30, 2022
Share-Based Payment Arrangement [Abstract]
Stock-Based Compensation	Stock-Based Compensation Equity Compensation Plans The Company maintains three equity compensation plans that provide for the issuance of shares of its Class A common stock to its employees, directors, and consultants: the 2017 Share Plan (the “2017 Plan”), the 2021 Equity Incentive Plan (the “2021 Plan”), and the 2021 Employee Stock Purchase Plan (the “2021 ESPP”), which have all been approved by the board of directors. Following the Company's initial public offering ("IPO") in 2021, the 2017 Plan was terminated, but continues to govern the terms and conditions of the outstanding awards previously granted under the 2017 Plan. Subsequent to the IPO, the Company has only issued awards under the 2021 Plan and the ESPP. These plans provide for the issuance of incentive stock options (“ISOs”), nonstatutory stock options (“NSOs”), restricted shares, restricted stock units (“RSUs”), share value awards (“SVAs”), stock appreciation rights (“SARs”), and other awards. 2021 Employee Stock Purchase Plan During the nine months ended September 30, 2022, 249,831 shares were purchased under the 2021 ESPP at a weighted-average price of $9.15 per share resulting in cash proceeds of $2.3 million. Stock Options A summary of the stock option activity, including the CEO Performance Award, for the nine months ended September 30, 2022 is as follows (in thousands, except share amounts, per share amounts, and years): Options Outstanding Weighted- Average Exercise Price Weighted- Average Remaining Life (Years) Aggregate Intrinsic Value Outstanding at December 31, 2021 7,684,778 $ 12.91 9.04 $ 188,722 Exercised (921,742) $ 1.88 Cancelled/Forfeited (1,974,012) $ 17.68 Outstanding at September 30, 2022 4,789,024 $ 13.25 5.27 $ 12,004 Vested and exercisable at September 30, 2022 2,398,336 $ 8.79 5.32 $ 7,612 As of September 30, 2022, there was $14.3 million of unrecognized stock-based compensation expense related to unvested stock options, which is expected to be recognized over a weighted-average service period of 2.50 years. CEO Performance Award In March 2021, included in the stock options discussed above, the Company granted 1,150,000 stock option awards to Cheng Lu, its former and current CEO, with an exercise price of $14.14 per share and a contractual life of ten years that vest upon the attainment of both operational milestones (performance conditions) and market conditions, assuming continued employment as CEO through the vesting date (the “CEO Performance Award”). In March 2022, the Company underwent a change in CEO and the CEO Performance Awards were cancelled in connection with the separation of Cheng Lu as CEO. As a result, the Company reversed the historical stock-based compensation expense attributable to the CEO Performance Awards of $7.1 million. In November 2022, Cheng Lu was reappointed as CEO (refer to Note 9. Subsequent Events). In connection with the March 2022 separation of Cheng Lu as CEO, a total of 1,850,000 stock options were modified, of which 440,000 were vested as of the modification date. The terms of the modification allow for continued vesting of the unvested stock options for the twelve-month period following the separation date ("transition period"), subject to the provision of advisory services throughout the transition period. Upon the completion of such continuous services, all stock options subject to vesting shall become vested and exercisable. Each of the modified stock options, including those vested and outstanding as of the modification date, shall remain outstanding and exercisable until the earlier of: (x) the date on which any of the Company's outstanding stock options are terminated in connection with a corporate transaction, (y) the original expiration date applicable to such stock options, and (z) the second anniversary of the date on which the transition services with the Company are terminated. The Company determined the continuous service provisions were in-substance an acceleration of the unvested awards and the incremental cost related to the modified options was recorded immediately upon the separation date. Additionally, 175,000 outstanding and unvested RSUs had their vesting accelerated in full as of the separation date. As a result of these modifications, the Company recorded incremental stock compensation expense of $13.9 million during the nine months ended September 30, 2022. RSUs The following table summarizes the activity related to RSUs for the nine months ended September 30, 2022: RSUs Outstanding Weighted-Average Unvested and outstanding at December 31, 2021 5,949,798 $ 46.54 Granted 10,355,782 $ 8.79 Vested (2,019,222) $ 39.01 Cancelled (2,086,309) $ 35.33 Unvested and outstanding at September 30, 2022 12,200,049 $ 17.66 Vested and outstanding at September 30, 2022 115,150 $ 28.28 SVAs The following table summarizes the activity related to SVAs for the nine months ended September 30, 2022: SVAs Outstanding Weighted-Average Unvested and outstanding at December 31, 2021 315,559 $ 5.29 Vested (172,504) $ 4.79 Cancelled (51,781) $ 2.97 Unvested and outstanding at September 30, 2022 91,274 $ 7.55 Vested and outstanding at September 30, 2022 — $ — As of September 30, 2022, there was $191.7 million of unrecognized stock-based compensation expense related to RSUs and SVAs, which is expected to be recognized over a weighted-average service period of 2.61 years. Stock-based Compensation Expense Total stock-based compensation expense was as follows (in thousands): Three Months Ended September 30, Nine Months Ended September 30, 2021 2022 2021 2022 Research and development $ 22,382 $ 16,915 $ 49,520 $ 56,771 Selling, general and administrative 9,700 6,117 41,360 18,939 Total stock-based compensation expense $ 32,082 $ 23,032 $ 90,880 $ 75,710

Income Taxes

Income Taxes	9 Months Ended
	Sep. 30, 2022
Income Tax Disclosure [Abstract]
Income Taxes	Income TaxesThe Company’s effective tax rate was 0% for the nine months ended September 30, 2022, which is lower than the U.S. federal rate of 21% and was primarily due to valuation allowances recorded on current year losses. As of September 30, 2022, the Company continues to maintain a full valuation allowance against its U.S. and foreign net deferred tax assets due to significant negative evidence, including cumulative losses in the most recent three-year period and the Company’s assessment that it is not more likely than not that the net deferred tax assets will be realized.

Net Loss Per Share Attributable

Net Loss Per Share Attributable to Common Stockholders	9 Months Ended
	Sep. 30, 2022
Earnings Per Share [Abstract]
Net Loss Per Share Attributable to Common Stockholders	Net Loss Per Share Attributable to Common StockholdersBasic net loss per share of common stock attributable to common stockholders is calculated by dividing net loss attributable to common stockholders by the weighted-average shares of common stock outstanding for the period. Diluted net loss per share attributable to common stockholders is the same as basic net loss per share attributable to common stockholders for all years presented because the effects of potentially dilutive items were antidilutive given the Company’s net loss in each period presented. The following table presents the calculation of basic and diluted net loss per share attributable to common stockholders (in thousands, except share and per share amounts): Three Months Ended September 30, Nine Months Ended September 30, 2021 2022 2021 2022 Numerator: Net loss $ (115,490) $ (113,161) $ (617,179) $ (333,659) Less: Accretion of redeemable convertible preferred stock — — (4,135) — Net loss attributable to common stockholders, basic and diluted $ (115,490) $ (113,161) $ (621,314) $ (333,659) Denominator: Weighted-average shares used in computing net loss per share, basic and diluted 212,802,379 224,745,672 152,469,098 223,698,744 Net loss per share: Net loss per share attributable to common stockholders, basic and diluted $ (0.54) $ (0.50) $ (4.08) $ (1.49) The following potentially dilutive outstanding shares were excluded from the computation of diluted net loss per share for the periods presented because including them would have had an anti-dilutive effect, or because issuance of such shares is contingent upon the satisfaction of certain conditions which were not satisfied by the end of the period: As of September 30, 2021 2022 Options to purchase common stock 16,019,239 4,789,024 RSUs subject to future vesting 5,061,779 12,200,049 SVAs subject to future vesting 411,079 91,274 Early exercised options subject to future vesting 45,000 25,000 Common stock contingently issuable under ESPP — 27,989 Total 21,537,097 17,133,336

Related Party Transactions

Related Party Transactions	9 Months Ended
	Sep. 30, 2022
Related Party Transactions [Abstract]
Related Party Transactions	Related Party TransactionsAs previously disclosed by the Company on its Current Report on Form 8-K filed on October 31, 2022, based on information obtained in connection with an ongoing internal investigation by its Audit Committee of the Board (the “Audit Committee”), during 2021 Company employees spent paid hours working on matters for Hydron Inc. (“Hydron”) and such paid hours had an estimated value of less than $300,000. The Company also believes that during 2022, in connection with its evaluation of Hydron as a potential OEM partner, the Company shared confidential information with Hydron and its partners before entering into relevant non-disclosure and other cooperation agreements. After the information was disclosed, the Company entered into a non-disclosure agreement with Hydron that covered the information. Mr. Mo Chen, one of the Company’s co-founders and current Executive Chairman, is a founder, director and chief executive officer of Hydron and he has an equity interest in the Company of greater than 10%. This related party transaction and the evaluation of Hydron as a potential OEM partner was not presented to, or approved by, the Audit Committee as required by Company policies.

Subsequent Events

Subsequent Events	9 Months Ended
	Sep. 30, 2022
Subsequent Events [Abstract]
Subsequent Events	Subsequent Events Litigation Matters Shareholder Securities Litigation On November 10, 2022, a second securities class action (the “November 2022 Action”) complaint was filed in the United States District Court for the Southern District of New York against the Company and certain of its current and former directors, officers (Xiaodi Hou, Mo Chen, Cheng Lu, Eric Tapia, Patrick Dillon, and James Mullen), and the underwriters who underwrote its IPO, on behalf of a putative class of stockholders who acquired its securities from April 15, 2021 through October 31, 2022. The complaint in the November 2022 Action alleges, among other things, that the Company and certain of its current and former directors and officers violated Sections 11, 12(a), and 15 of the Securities Act and Sections 10(b) and 20(a) of the Exchange Act, by making false or misleading statements, or failing to disclose information it was required to disclose, regarding the Company's related party transaction with Hydron and the Company’s sharing of confidential information and proprietary technology with Hydron without approval from the Company’s Board. The complaint seeks unspecified monetary damages on behalf of the putative class and an award of costs and expenses, including reasonable attorneys’ fees. The November 2022 Action has since been transferred to the Southern District of California. Woldanski v. TuSimple Holdings, Inc., et al., 3:23-cv-00282-JES-MSB (S. D. Cal.). The complaint in the November 2022 Action may be amended at a future date to add additional or alternate allegations regarding liability or alternate or additional claims for relief. On May 3, 2023, the Company made a motion to consolidate the August 2022 Action and the November 2022 Action. That motion remains pending. At this time, the Company is unable to estimate the potential loss or range of loss, if any, associated with this, or any similar, lawsuit, which could be material. Shareholder Derivative Actions On November 28, 2022, a shareholder derivative action was filed in the Delaware Court of Chancery by a stockholder purportedly on behalf of the Company against certain of its current and former directors and officers (Xiaodi Hou, Mo Chen, Brad Buss, Karen Francis, Michelle Sterling, and Reed Warner) alleging, among other things, that certain of the Company’s current and former directors and officers breached their fiduciary duties to the Company in connection with a related party transaction with Hydron: Nusbaum v. Hou et al., 2022-1095-NAC (Del. Ch.). The shareholder derivative action also alleges breaches of fiduciary duties against certain of the Company’s current and former directors and officers in connection with the restructuring of the Company’s board of directors (the "Board"). On December 15, 2022, a second shareholder derivative action was filed in the Delaware Court of Chancery by a stockholder purportedly on behalf of the Company against certain of its current and former directors and officers (Xiaodi Hou, Mo Chen, Cheng Lu, Patrick Dillon, Eric Tapia, James Mullen, Brad Buss, Charles Chao, Karen Francis, Michelle Sterling, Reed Werner, and Bonnie Zhang) alleging similar claims to the action filed on November 28, 2022: Young v. Hou et al., 2022-1157-NAC (Del. Ch.). The second shareholder derivative action additionally asserts, among other things, claims regarding the safety of the Company’s technology and alleged inadequacy of the Company’s internal controls. On March 6, 2023, a third shareholder derivative action was filed in the Delaware Court of Chancery by a stockholder purportedly on behalf of the Company against certain of its current and former directors and officers (Xiaodi Hou, Brad Buss, Mo Chen, Charles Chao, Karen Francis, Wendy Hayes, Cheng Lu, James Lu, Michael Mosier, Michelle Sterling, Reed Werner, and Bonnie Zhang), alleging similar claims to the actions filed on November 28, 2022 and December 15, 2022: Wolfson v. Hou et al., 2023-0279-NAC (Del. Ch.). The stockholder has since purported to voluntarily dismiss her action. On March 29, 2023, the Company made a motion to consolidate all of the above shareholder derivative actions. The Court granted the motion and consolidated the shareholder derivative actions on May 5, 2023. The Company is unable to estimate the potential loss or range of loss, if any, associated with this, or any similar, lawsuit, which could be material. Regulatory Investigations Committee on Foreign Investments in the United States (“CFIUS”) The Company is cooperating with an inquiry by CFIUS concerning its compliance with the National Security Agreement (“NSA”) entered into with the U.S. government as it relates to information shared by TuSimple U.S. with TuSimple's China-based businesses (“TuSimple China”), Hydron and Hydron’s partners. If CFIUS concludes that information shared with TuSimple China, Hydron and Hydron’s partners was shared in violation of the terms of the NSA, it may impose a civil penalty on the Company. At this time, the Company is unable to estimate the likelihood of a negative outcome or the potential loss or range of loss associated with this matter. The Audit Committee, the Government Security Committee of the Board (the "Government Security Committee"), the Board and the Company are committed to cooperating fully as discussions with CFIUS continue. Securities and Exchange Commission ("SEC") As disclosed on November 7, 2022, in connection with the filing of the Company’s Current Report on Form 8-K regarding the initial findings of the Audit Committee’s internal investigation into the related party transaction with Hydron, the Company proactively reached out to the SEC and received an initial request for information from the SEC. Since the initial outreach, the Company and certain current and former directors and officers received subpoenas from the SEC requesting the production of Company documents. The Company is unable to estimate the likelihood of a negative outcome or the potential loss or range of loss associated with this matter. The Company has cooperated, and intends to continue to fully cooperate, with the SEC’s investigation. Nasdaq In May 2023, the Company received a notice from The Nasdaq Stock Market LLC (“Nasdaq”) indicating that, as a result of the Company not having timely filed its Quarterly Report on Form 10-Q for the period ended September 30, 2022, its Annual Report on Form 10-K for the fiscal year ended December 31, 2022, and its Quarterly Report on Form 10-Q for the period ended March 31, 2023, the Company is not in compliance with Nasdaq Listing Rule 5250(c)(1) and Nasdaq has determined to deny the Company’s request for continued listing on Nasdaq. The Company requested, and Nasdaq granted, a hearing before the Nasdaq Hearings Panel (the "Panel") to appeal Nasdaq's delisting determination. On June 22, 2023, the Company appeared before the Panel and, on July 6, 2023, the Company received a notice from Nasdaq indicating that based on the plan of compliance presented by the Company at its hearing, the Panel has granted the Company’s request for continued listing on Nasdaq. The Panel has granted the Company an extension until September 30, 2023 (the “Compliance Date”) to file with the SEC its Quarterly Report on Form 10-Q for the fiscal quarter ended September 30, 2022, its Annual Report on Form 10-K for the fiscal year ended December 31, 2022, its Quarterly Report on Form 10-Q for the fiscal quarter ended March 31, 2023 and its Quarterly Report on Form 10-Q for the fiscal quarter ended June 30, 2023 (the “Delayed Reports”), subject to specified deadlines for each Delayed Report. The Company intends to take the steps necessary to meet the deadlines for the Delayed Reports and regain compliance with Nasdaq listing standards by the Compliance Date. Board and Management Changes On October 30, 2022, the Company's Board terminated the employment of Dr. Xiaodi Hou as the Chief Executive Officer, President and Chief Technology Officer of the Company and removed Dr. Hou from his position as Chairman of the Board. The Board appointed Dr. Ersin Yumer as interim Chief Executive Officer and President of the Company, effective as of the same date. On November 10, 2022, the Company received a written consent in which stockholders White Marble LLC, White Marble International Limited, Gray Jade Holding Limited, THC International Limited and Brown Jade Holding Limited, which together are the record holders of a majority of the voting power of the outstanding shares of capital stock of the Company, consented to the removal of Brad Buss, Karen C. Francis, Michelle Sterling and Reed Werner from the Company’s Board. At such time, Dr. Hou became the sole remaining member of the Board and appointed Mo Chen and Cheng Lu to the Board. On November 10, 2022, the Board (i) removed Dr. Yumer as interim Chief Executive Officer and President of the Company, (ii) appointed Cheng Lu as Chief Executive Officer of the Company, and (iii) appointed Mo Chen, as Executive Chairman of the Company’s board of directors, each effective immediately. On December 7, 2022, James Lu was appointed to the Board as an independent director. On December 14, 2022, the Company granted Cheng Lu 3,425,000 RSUs that vest annually over a period of four years (“CEO Time-Based Award”) and 3,425,000 RSUs that vest annually over a period of four years upon the attainment of certain stock price hurdles (“CEO Performance Award”), in both cases assuming continued employment of CEO through the vesting dates and in exchange for the cancellation and forfeiture of Cheng Lu's 1,850,000 outstanding stock options. On December 15, 2022, Wendy Hayes and Michael Mosier were appointed to the Board as independent directors. On March 9, 2023, Dr. Xiaodi Hou notified the Company that he was resigning from the Board effective immediately. On March 13, 2023, J. Tyler McGaughey and Zhen Tao were appointed to the Board as independent directors. Restructurings On December 15, 2022, the Board authorized a broad restructuring plan to rebalance the Company’s cost structure in alignment with its strategic priorities resulting in a reduction in the size of the Company’s workforce by approximately 350 employees and the impairment of certain non-current assets. On May 16, 2023, the Board authorized an additional restructuring plan to further align the Company’s cost structure with its strategic priorities resulting in an additional reduction in the Company’s workforce by approximately 300 employees (together with the December 15, 2022 reduction in force, the “Restructuring Plan”). Following the Restructuring Plan, the Company’s global full-time employees (“FTEs”) are approximately 750 FTEs, including approximately 250 FTEs in the U.S. operations. Taken together, the Company estimates that it will incur one-time charges of approximately $33.0 million to $35.0 million in connection with the Restructuring Plan, consisting primarily of cash expenditures for employee transition, notice period and severance payments, employee benefits and related costs, as well as non-cash impairment charges of certain non-current assets. The foregoing estimates of the charges the Company expects to incur under the Restructuring Plan are subject to assumptions and actual charges may differ from such estimates. Strategic Alternatives On June 28, 2023, the Company announced that it is evaluating strategic alternatives for its U.S.-based business and engaged Perella Weinberg Partners as a financial advisor to explore possible transactions.

Description of Business and S_2

Description of Business and Summary of Significant Accounting Policies (Policies)	9 Months Ended
	Sep. 30, 2022
Organization, Consolidation and Presentation of Financial Statements [Abstract]
Description of Business	Description of Business TuSimple Holdings Inc. ("TuSimple" or the "Company") is a global autonomous driving technology company headquartered in San Diego, California, with operations in the United States ("U.S.") and Asia. Founded in 2015, TuSimple is developing a commercial-ready, fully autonomous (SAE Level 4) driving solution for long-haul heavy-duty trucks.
Basis of Presentation and Consolidation	Basis of Presentation and Consolidation The accompanying unaudited condensed consolidated financial statements (“Financial Statements”) have been prepared in accordance with accounting principles generally accepted in the U.S. (“GAAP”) and applicable rules and regulations of the Securities and Exchange Commission (“SEC”) regarding interim financial reporting. The Financial Statements include the accounts of the Company and its consolidated subsidiaries. All significant intercompany balances and transactions have been eliminated in consolidation. These Financial Statements should be read in conjunction with the audited consolidated financial statements and notes as of and for the year ended December 31, 2021 , included in the Company's Annual Report on Form 10-K. The condensed consolidated balance sheet as of December 31, 2021 was derived from the audited consolidated financial statements as of that date, but does not include all disclosures required by GAAP. In management’s opinion, the accompanying Financial Statements reflect all normal recurring adjustments necessary for their fair presentation. Other than described below, there have been no changes to the Company’s significant accounting policies described in the Annual Report on Form 10-K for the year ended December 31, 2021 that have had a material impact on the Company’s Financial Statements.
Cash, Cash Equivalents, and Restricted Cash	Cash, Cash Equivalents, and Restricted Cash Cash and cash equivalents consist of cash in banks and highly liquid investments, primarily money market funds, commercial paper and U.S. government and agency securities, purchased with an original maturity of three months or less. Restricted cash is pledged as security for letters of credit or other collateral amounts established by the Company for certain lease obligations, customer deposits, corporate credit cards, and other contractual arrangements. Restricted cash is recorded as prepaid expenses and other current assets in the condensed consolidated balance sheets based on the term of the remaining restriction.
Concentration of Credit Risk	Concentration of Credit Risk Cash and cash equivalents and short-term investments are potentially subject to concentrations of credit risk. The Company's investment policy limits the amount of credit exposure with any one financial institution or commercial issuer and sets requirements regarding credit rating and investment maturities to safeguard liquidity and minimize risk. The majority of our cash deposits exceed insured limits and are placed with financial institutions around the world that the Company believes are of high credit quality. The Company has not experienced any material losses related to these concentrations during the periods presented.
Fair Value Measurements	Fair Value Measurements Fair value is defined as the price that would be received to sell an asset or paid to transfer a liability in an orderly transaction between market participants at the measurement date. The Company measures financial assets and liabilities at fair value at each reporting period using a fair value hierarchy which requires the Company to maximize the use of observable inputs and minimize the use of unobservable inputs when measuring fair value. A financial instrument’s classification within the fair value hierarchy is based upon the lowest level of input that is significant to the fair value measurement. The levels of inputs used to measure fair value are: • Level 1 — Observable inputs such as quoted prices in active markets for identical assets or liabilities. • Level 2 — Observable inputs other than Level 1 prices such as quoted prices for similar assets or liabilities in active markets, quoted prices in markets that are not active or inputs other than the quoted prices that are observable either directly or indirectly for the full term of the assets or liabilities. • Level 3 — Unobservable inputs in which there is little or no market data that are significant to the fair value of the assets or liabilities. The Company’s primary financial instruments include cash equivalents, short-term investments, accounts receivable, accounts payable, amounts due to joint development partners, accrued expenses, short-term and long-term debt. The estimated fair value of these instruments approximates their carrying value due to their short-term nature. Refer to Note 2. Investments and Fair Value Measurements for further information.
Investments	Investments Debt Securities Accounting for the Company's debt securities is based on the legal form of the security, the Company's intended holding period for the security, and the nature of the transaction. Investments in debt securities are classified as available-for-sale and are initially recorded at fair value. Investments in debt securities include commercial paper, U.S. treasury securities, U.S. government agency securities, and corporate debt securities. Subsequent changes in fair value of available-for-sale debt securities are recorded in other comprehensive income (loss), net of tax. Interest on these debt securities and amortization of premiums and accretion of discounts are included in interest income on the condensed consolidated statements of operations. The Company considers its debt securities as available for use in current operations, including those with maturity dates beyond one year, and therefore classifies these securities as short-term investments on the condensed consolidated balance sheets. The Company evaluates its available-for-sale debt securities to determine whether there is a decline in the fair value below its amortized cost basis (an impairment) at each reporting period. This evaluation consists of several qualitative and quantitative factors regarding the severity and duration of the unrealized loss as well as the Company’s ability and intent to hold the investment until a forecasted recovery occurs. Factors considered include: recent financial results and operating trends; implied values in recent transactions of investee securities; other publicly available information that may affect the value of the Company’s investments; severity and length of the decline in value; and the Company’s strategy and intentions for holding the investment.
Leases	Leases The Company accounts for leases in accordance with Accounting Standards Codification ("ASC") 842, Leases ("ASC 842"), which requires lessees to recognize on-balance sheet and disclose key information about leasing arrangements. The Company adopted ASC 842 along with all applicable ASU clarifications and improvements on January 1, 2022 using the modified retrospective transition method and used the effective date as the date of initial application. Consequently, financial information is not updated and disclosures required under ASC 842 are not provided for periods before January 1, 2022. ASC 842 provides a number of optional practical expedients in transition. The Company elected the "package of practical expedients," which permits the Company not to reassess under ASC 842 its prior conclusions about lease identification, lease classification and initial direct costs. The Company determines if a contract contains a lease based on whether it has the right to obtain substantially all of the economic benefits from the use of an identified asset and whether it has the right to direct the use of an identified asset in exchange for consideration, which relates to an asset which the Company does not own. Right-of-use (“ROU”) assets represent the Company’s right to use an underlying asset for the lease term and lease liabilities represent the Company’s obligation to make lease payments arising from the lease. ROU assets are recognized as the lease liability, adjusted for lease incentives received. Lease liabilities are recognized at the present value of the future lease payments at the lease commencement date, net of lease incentive receivable. The interest rate used to determine the present value of the future lease payments is the Company’s incremental borrowing rate (“IBR”) because the interest rate implicit in most of the Company’s leases is not readily determinable. Lease payments may be fixed or variable, however, only fixed payments or in-substance fixed payments are included in the Company’s lease liability calculation. Variable lease payments are recognized in operating expenses in the period in which the obligation for those payments are incurred. The Company has lease agreements with lease and non-lease components and has elected to utilize the practical expedient to account for lease and non-lease components together as a single combined lease component. Additionally, the Company has determined that certain leases previously identified as build-to-suit leasing arrangements under legacy accounting, were derecognized pursuant to the transition guidance provided for build-to-suit leases in ASC 842. Accordingly, these leases have been reassessed as operating leases as of the adoption date under ASC 842, and are included on the condensed consolidated balance sheet as of September 30, 2022. The Company has leases that include one or more options to extend the lease term for up to five years and some of its leases include options to terminate the lease prior to the end of the agreed upon lease term. For purposes of calculating lease liabilities, lease terms include options to extend or terminate the lease when it is reasonably certain that the Company will exercise such options. Operating leases are included within operating lease ROU assets, operating lease liabilities, current, and operating lease liabilities, noncurrent on the Company's condensed consolidated balance sheet as of September 30, 2022. Finance leases are included in property and equipment, net, accrued expenses and other current liabilities, and other liabilities on the Company's condensed consolidated balance sheet as of September 30, 2022. The Company has elected not to present short-term leases on the consolidated balance sheet as these leases have a lease term of 12 months or less at lease inception and do not contain purchase options or renewal terms that the Company is reasonably certain to exercise. Adoption of the new lease standard on January 1, 2022 impacted the interim unaudited condensed consolidated financial statements as follows: (i) recognition of ROU assets of $32.9 million and lease liabilities of $35.1 million for operating leases, (ii) derecognition of build-to-suit lease assets and liabilities of $6.5 million and $4.4 million, respectively, with the net impact of $0.2 million recorded to accumulated deficit as of January 1, 2022, and (iii) reclassification of deferred rent and other liability balances of $2.5 million relating to its existing lease arrangements into the ROU asset balance as of January 1, 2022. The standard did not materially impact the condensed consolidated statement of operations and condensed consolidated statement of cash flows.
Reclassifications	Reclassifications Certain prior period balances have been reclassified to conform to the current period presentation in the condensed consolidated financial statements and the accompanying notes. Sales and marketing expense and general and administrative expense have been reclassified to selling, general and administrative expense. Interest income has been reclassified from other income (expense), net to interest income.
Recently Adopted Accounting Pronouncements and Recently Issued Accounting Pronouncements	Recently Adopted Accounting Pronouncements In February 2016, the Financial Accounting Standards Board ("FASB") issued Accounting Standards Update ("ASU") No. 2016-02, Leases , to require lessees to recognize all leases, with limited exceptions, on the balance sheet, while recognition on the statement of operations will remain similar to legacy lease accounting, ASC 840. Subsequently, the FASB issued ASU No. 2018-10, Codification Improvements to Topic 842 , ASU No. 2018-11, Targeted Improvements , ASU No. 2018-20, Narrow-Scope Improvements for Lessors , and ASU 2019-01, Codification Improvements , to clarify and amend the guidance in ASU No. 2016-02. As disclosed above, the Company adopted the ASUs on January 1, 2022 on a modified retrospective basis. Recently Issued Accounting Pronouncements There have been no recent accounting pronouncements since the filing of the Company's Annual Report on Form 10-K for the year ended December 31, 2021, that may have a material impact on the Company's unaudited condensed consolidated financial statements.

Investments and Fair Value Me_2

Investments and Fair Value Measurements (Tables)	9 Months Ended
	Sep. 30, 2022
Fair Value Disclosures [Abstract]
Schedule of Debt Securities, Available-for-Sale	Investments in debt securities as of September 30, 2022 were as follows (in thousands): As of September 30, 2022 Amortized Cost Gross Unrealized Gross Unrealized Losses Fair Value Cash Equivalents Short-term Investments Available-for-sale debt securities: U.S. treasury securities $ 9,769 $ — $ (80) $ 9,689 $ — $ 9,689 U.S. government agency securities 105,097 3 (281) 104,819 80,317 24,502 Commercial paper 130,993 — (206) 130,787 76,704 54,083 Corporate debt securities 116,876 — (1,522) 115,354 5,842 109,512 Total $ 362,735 $ 3 $ (2,089) $ 360,649 $ 162,863 $ 197,786
Schedule of Cash and Cash Equivalents	Investments in debt securities as of September 30, 2022 were as follows (in thousands): As of September 30, 2022 Amortized Cost Gross Unrealized Gross Unrealized Losses Fair Value Cash Equivalents Short-term Investments Available-for-sale debt securities: U.S. treasury securities $ 9,769 $ — $ (80) $ 9,689 $ — $ 9,689 U.S. government agency securities 105,097 3 (281) 104,819 80,317 24,502 Commercial paper 130,993 — (206) 130,787 76,704 54,083 Corporate debt securities 116,876 — (1,522) 115,354 5,842 109,512 Total $ 362,735 $ 3 $ (2,089) $ 360,649 $ 162,863 $ 197,786
Summary of Contractual Maturities, Available-for-Sale Debt Securities	The fair value and amortized cost of the Company’s debt securities with a stated contractual maturity or redemption date were as follows (in thousands): September 30, 2022 Amortized Cost Fair Value Due in one year or less $ 255,526 $ 255,007 Due in one year through five years 107,209 105,642 Total $ 362,735 $ 360,649
Schedule of Assets Measured at Fair Value on Recurring Basis	The following table presents the Company’s assets and liabilities that are measured at fair value on a recurring basis and indicates the fair value hierarchy of the valuation (in thousands): As of September 30, 2022 Total Level 1 Level 2 Level 3 Assets: Cash equivalents: Money market funds $ 640,978 $ 640,978 $ — $ — U.S. government agency securities 80,317 — 80,317 — Commercial paper 76,704 — 76,704 — Corporate debt securities 5,842 — 5,842 — Total cash equivalents $ 803,841 $ 640,978 $ 162,863 $ — Short-term investments: U.S. treasury securities $ 9,689 $ 9,689 $ — $ — U.S. government agency securities 24,502 — 24,502 — Commercial paper 54,083 — 54,083 — Corporate debt securities 109,512 — 109,512 — Total short-term investments $ 197,786 $ 9,689 $ 188,097 $ — Total $ 1,001,627 $ 650,667 $ 350,960 $ — As of December 31, 2021 Total Level 1 Level 2 Level 3 Assets: Cash equivalents: Money market funds $ 1,077,550 $ 1,077,550 $ — $ — Total $ 1,077,550 $ 1,077,550 $ — $ —
Schedule of Fair Value Assumptions	The Company used the following assumptions in the model: As of February 26, 2021 March 19, 2021 Fair value of underlying securities $40.00 $40.00 Expected volatility 62.95% 60.85% Expected term (in years) 1.76 0.79 Risk-free interest rate 0.14% 0.08%

Balance Sheet Components (Table

Balance Sheet Components (Tables)	9 Months Ended
	Sep. 30, 2022
Balance Sheet Related Disclosures [Abstract]
Schedule of Property and Equipment, Net	Property and equipment, net as of December 31, 2021 and September 30, 2022, was as follows (in thousands): As of December 31, September 30, Electronic equipment $ 12,761 $ 14,690 Office and other equipment 9,423 15,195 Vehicles 21,043 18,912 Leasehold improvements 11,984 13,058 Buildings — 1,841 Construction in progress 5,258 2,788 Property and equipment, gross 60,469 66,484 Accumulated depreciation and amortization (24,416) (28,258) Property and equipment, net $ 36,053 $ 38,226
Schedule of Accrued Expenses and Other Current Liabilities	Accrued expenses and other current liabilities as of December 31, 2021 and September 30, 2022 were as follows (in thousands): As of December 31, September 30, Accrued payroll $ 33,225 $ 27,036 Accrued information technology services 1,625 3,438 Accrued professional fees 1,938 1,769 Finance lease liabilities, current — 1,258 Other 4,910 6,911 Accrued expenses and other current liabilities $ 41,698 $ 40,412
Summary of Balances for Operating and Finance Leases	The balances for the operating and finance leases where the Company is the lessee are presented within the consolidated balance sheets as follows (in thousands): As of September 30, 2022 Operating leases: Operating lease right-of-use assets $ 46,370 Operating lease liabilities, current $ 5,983 Operating lease liabilities, noncurrent 41,920 Total operating lease liabilities $ 47,903 Finance leases: Property and equipment, at cost $ 7,667 Accumulated depreciation (1,123) Property and equipment, net $ 6,544 Accrued expenses and other current liabilities $ 1,258 Other liabilities 5,661 Total finance lease obligations $ 6,919
Components of Lease Expense and Supplemental Cash Flow Information	The components of lease expense were as follows (in thousands): Three Months Ended September 30, 2022 Nine Months Ended September 30, 2022 Operating lease expense: Operating lease expense (1) $ 2,105 $ 6,395 Finance lease expense: Amortization of leased assets $ 384 $ 1,111 Interest on lease liabilities 139 438 Total finance lease expense $ 523 $ 1,549 Total lease expense $ 2,628 $ 7,944 (1) Includes short-term leases and variable lease costs, which are immaterial. Other information related to leases where the Company is the lessee is as follows: As of September 30, 2022 Weighted-average remaining lease term: Operating leases 8.6 years Finance leases 5.6 years Weighted-average discount rate: Operating leases 4.4 % Finance leases 9.1 % Supplemental cash flow information related to leases where the Company is the lessee is as follows (in thousands): Nine Months Ended September 30, 2022 Cash paid for amounts included in the measurement of lease liabilities: Operating cash flows from operating leases $ 5,369 Operating cash flows from finance leases (interest payments) $ 326 Financing cash flows from finance leases $ 929 Right-of-use assets obtained in exchange for lease obligations: Operating lease liabilities $ 48,404 Finance lease liabilities $ 7,772
Schedule of Operating Leases	As of September 30, 2022, the maturities of the Company's operating and financing lease liabilities (excluding short-term leases) are as follows (in thousands): Operating Leases Finance Leases Remainder of 2022 $ 1,432 $ 453 2023 7,993 1,664 2024 7,592 1,669 2025 7,452 2,468 2026 7,658 421 Thereafter 28,106 1,911 Total minimum lease payments 60,233 8,586 Less: lease incentive receivable (1) (1,488) — Less: imputed interest (10,842) (1,667) Present value of minimum lease payments 47,903 6,919 Less: current portion (5,983) (1,258) Lease obligations, noncurrent $ 41,920 $ 5,661 (1)Lease incentives receivable represent amounts relating to the Company's leasehold improvements that will be paid by the landlord pursuant to lease provisions with relevant landlord.
Schedule of Finance Leases	As of September 30, 2022, the maturities of the Company's operating and financing lease liabilities (excluding short-term leases) are as follows (in thousands): Operating Leases Finance Leases Remainder of 2022 $ 1,432 $ 453 2023 7,993 1,664 2024 7,592 1,669 2025 7,452 2,468 2026 7,658 421 Thereafter 28,106 1,911 Total minimum lease payments 60,233 8,586 Less: lease incentive receivable (1) (1,488) — Less: imputed interest (10,842) (1,667) Present value of minimum lease payments 47,903 6,919 Less: current portion (5,983) (1,258) Lease obligations, noncurrent $ 41,920 $ 5,661 (1)Lease incentives receivable represent amounts relating to the Company's leasehold improvements that will be paid by the landlord pursuant to lease provisions with relevant landlord.
Schedule of Operating Leases Prior to Adoption of ASC 842	Prior to the adoption of ASC 842, future minimum lease payments for non-cancelable operating and capital leases as of December 31, 2021 were as follows (in thousands): Operating Leases Capital Leases 2022 $ 7,660 $ 1,253 2023 7,891 978 2024 5,126 963 2025 3,435 1,761 2026 3,049 — Thereafter 22,524 — Total minimum lease payments $ 49,685 4,955 Amount representing interest (1,317) Present value of minimum lease payments $ 3,638
Schedule of Capital Leases Prior to Adoption of ASC 842	Prior to the adoption of ASC 842, future minimum lease payments for non-cancelable operating and capital leases as of December 31, 2021 were as follows (in thousands): Operating Leases Capital Leases 2022 $ 7,660 $ 1,253 2023 7,891 978 2024 5,126 963 2025 3,435 1,761 2026 3,049 — Thereafter 22,524 — Total minimum lease payments $ 49,685 4,955 Amount representing interest (1,317) Present value of minimum lease payments $ 3,638

Stock-Based Compensation (Table

Stock-Based Compensation (Tables)	9 Months Ended
	Sep. 30, 2022
Share-Based Payment Arrangement [Abstract]
Summary of Stock Option Activities	A summary of the stock option activity, including the CEO Performance Award, for the nine months ended September 30, 2022 is as follows (in thousands, except share amounts, per share amounts, and years): Options Outstanding Weighted- Average Exercise Price Weighted- Average Remaining Life (Years) Aggregate Intrinsic Value Outstanding at December 31, 2021 7,684,778 $ 12.91 9.04 $ 188,722 Exercised (921,742) $ 1.88 Cancelled/Forfeited (1,974,012) $ 17.68 Outstanding at September 30, 2022 4,789,024 $ 13.25 5.27 $ 12,004 Vested and exercisable at September 30, 2022 2,398,336 $ 8.79 5.32 $ 7,612
Summary of Nonvested Restricted Stock Unit Awards	The following table summarizes the activity related to RSUs for the nine months ended September 30, 2022: RSUs Outstanding Weighted-Average Unvested and outstanding at December 31, 2021 5,949,798 $ 46.54 Granted 10,355,782 $ 8.79 Vested (2,019,222) $ 39.01 Cancelled (2,086,309) $ 35.33 Unvested and outstanding at September 30, 2022 12,200,049 $ 17.66 Vested and outstanding at September 30, 2022 115,150 $ 28.28
Summary of Nonvested Shareholder Value Awards Activity	The following table summarizes the activity related to SVAs for the nine months ended September 30, 2022: SVAs Outstanding Weighted-Average Unvested and outstanding at December 31, 2021 315,559 $ 5.29 Vested (172,504) $ 4.79 Cancelled (51,781) $ 2.97 Unvested and outstanding at September 30, 2022 91,274 $ 7.55 Vested and outstanding at September 30, 2022 — $ —
Summary of Total Stock-based Compensation Expense	Total stock-based compensation expense was as follows (in thousands): Three Months Ended September 30, Nine Months Ended September 30, 2021 2022 2021 2022 Research and development $ 22,382 $ 16,915 $ 49,520 $ 56,771 Selling, general and administrative 9,700 6,117 41,360 18,939 Total stock-based compensation expense $ 32,082 $ 23,032 $ 90,880 $ 75,710

Net Loss Per Share Attributab_2

Net Loss Per Share Attributable to Common Stockholders (Tables)	9 Months Ended
	Sep. 30, 2022
Earnings Per Share [Abstract]
Summary of Calculation of Basic and Diluted Net Loss Per Share Attributable to Common Stockholders	The following table presents the calculation of basic and diluted net loss per share attributable to common stockholders (in thousands, except share and per share amounts): Three Months Ended September 30, Nine Months Ended September 30, 2021 2022 2021 2022 Numerator: Net loss $ (115,490) $ (113,161) $ (617,179) $ (333,659) Less: Accretion of redeemable convertible preferred stock — — (4,135) — Net loss attributable to common stockholders, basic and diluted $ (115,490) $ (113,161) $ (621,314) $ (333,659) Denominator: Weighted-average shares used in computing net loss per share, basic and diluted 212,802,379 224,745,672 152,469,098 223,698,744 Net loss per share: Net loss per share attributable to common stockholders, basic and diluted $ (0.54) $ (0.50) $ (4.08) $ (1.49)
Schedule of Antidilutive Securities Excluded from Computation of Earnings Per Share	The following potentially dilutive outstanding shares were excluded from the computation of diluted net loss per share for the periods presented because including them would have had an anti-dilutive effect, or because issuance of such shares is contingent upon the satisfaction of certain conditions which were not satisfied by the end of the period: As of September 30, 2021 2022 Options to purchase common stock 16,019,239 4,789,024 RSUs subject to future vesting 5,061,779 12,200,049 SVAs subject to future vesting 411,079 91,274 Early exercised options subject to future vesting 45,000 25,000 Common stock contingently issuable under ESPP — 27,989 Total 21,537,097 17,133,336

Description of Business and S_3

Description of Business and Summary of Significant Accounting Policies (Details) $ in Thousands	9 Months Ended
	Sep. 30, 2022 USD ($) option	Jan. 01, 2022 USD ($)	Dec. 31, 2021 USD ($)
Description Of Business And Summary Of Significant Accounting Policies Disclosure [Line Items]
Number of options to extend the lease term | option	1
Option to extend, lease term	5 years
Option to extend, lease term	5 years
Operating lease right-of-use assets	$ 46,370	$ 32,900	$ 0
Present value of minimum lease payments	47,903	35,100
Accumulated deficit	$ (1,471,319)		(1,137,851)
Cumulative Effect, Period of Adoption, Adjustment
Description Of Business And Summary Of Significant Accounting Policies Disclosure [Line Items]
Accumulated deficit			$ 200
Revision of Prior Period, Accounting Standards Update, Adjustment
Description Of Business And Summary Of Significant Accounting Policies Disclosure [Line Items]
Operating lease right-of-use assets		2,500
Build-to-suit lease assets		6,500
Build-to-suit lease liabilities		4,400
Deferred rent credit		$ 2,500

Investments and Fair Value Me_3

Investments and Fair Value Measurements - Schedule of Investments on the Consolidated Balance Sheet (Details) - USD ($) $ in Thousands	Sep. 30, 2022	Dec. 31, 2021	Sep. 30, 2021
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Fair Value		$ 0
Cash And Cash Equivalents, And Debt Securities, Available For Sale [Abstract]
Amortized Cost	$ 362,735
Gross Unrealized Gains	3
Gross Unrealized Losses	(2,089)
Fair Value	360,649
Cash Equivalents	871,360	1,337,586	$ 1,412,128
Total short-term investments	197,786	$ 0
U.S. government agency securities
Cash And Cash Equivalents, And Debt Securities, Available For Sale [Abstract]
Cash Equivalents	80,317
Commercial paper
Cash And Cash Equivalents, And Debt Securities, Available For Sale [Abstract]
Cash Equivalents	76,704
Corporate debt securities
Cash And Cash Equivalents, And Debt Securities, Available For Sale [Abstract]
Cash Equivalents	5,842
Cash Equivalents
Cash And Cash Equivalents, And Debt Securities, Available For Sale [Abstract]
Cash Equivalents	162,863
U.S. treasury securities
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Amortized Cost	9,769
Gross Unrealized Gains	0
Gross Unrealized Losses	(80)
Fair Value	9,689
Cash And Cash Equivalents, And Debt Securities, Available For Sale [Abstract]
Cash Equivalents	0
Total short-term investments	9,689
U.S. government agency securities
Cash And Cash Equivalents, And Debt Securities, Available For Sale [Abstract]
Amortized Cost	105,097
Gross Unrealized Gains	3
Gross Unrealized Losses	(281)
Fair Value	104,819
Total short-term investments	24,502
Commercial paper
Cash And Cash Equivalents, And Debt Securities, Available For Sale [Abstract]
Amortized Cost	130,993
Gross Unrealized Gains	0
Gross Unrealized Losses	(206)
Fair Value	130,787
Total short-term investments	54,083
Corporate debt securities
Cash And Cash Equivalents, And Debt Securities, Available For Sale [Abstract]
Amortized Cost	116,876
Gross Unrealized Gains	0
Gross Unrealized Losses	(1,522)
Fair Value	115,354
Total short-term investments	$ 109,512

Investments and Fair Value Me_4

Investments and Fair Value Measurements - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	1 Months Ended		2 Months Ended	3 Months Ended		9 Months Ended
	Mar. 31, 2021	Feb. 28, 2021	Mar. 31, 2021	Sep. 30, 2022	Sep. 30, 2021	Sep. 30, 2022	Sep. 30, 2021	Dec. 31, 2021
Fair Value Measurements [Line Items]
Debt securities, available-for-sale								$ 0
Investments in an unrealized loss position				$ 320,300		$ 320,300
Other than Temporary Impairment Losses, Investments				0		0
Interest income				5,500	$ 500	7,900	$ 1,100
Proceeds from warrant exercises						0	183,007
Change in fair value of warrants liability			$ 326,900	$ 0	$ 0	$ 0	$ 326,900
Warrants outstanding (in shares)				0		0
Series E-2 Preferred Shares | Traton
Fair Value Measurements [Line Items]
Warrants to purchase preferred stock (in shares)		4,331,644
Exercise price per share (in dollars per share)		$ 11.31
Proceeds from warrant exercises		$ 49,000
Series E Redeemable Convertible Preferred Stock | Navistar, Inc.
Fair Value Measurements [Line Items]
Warrants to purchase preferred stock (in shares)	9,477,073		9,477,073
Exercise price per share (in dollars per share)	$ 14.14		$ 14.14
Proceeds from warrant exercises	$ 134,000

Investments and Fair Value Me_5

Investments and Fair Value Measurements - Summary of Contractual Maturities, Available-for-Sale Debt Securities (Details) $ in Thousands	Sep. 30, 2022 USD ($)
Amortized Cost
Due in one year or less	$ 255,526
Due in one year through five years	107,209
Amortized Cost	362,735
Fair Value
Due in one year or less	255,007
Due in one year through five years	105,642
Total	$ 360,649

Investments and Fair Value Me_6

Investments and Fair Value Measurements - Assets and Liabilities Measured at Fair Value on Recurring Basis (Details) - USD ($) $ in Thousands	Sep. 30, 2022	Dec. 31, 2021
Assets:
Total short-term investments	$ 197,786	$ 0
U.S. treasury securities
Assets:
Total short-term investments	9,689
Corporate debt securities
Assets:
Total short-term investments	109,512
Recurring Basis
Assets:
Total cash equivalents	803,841
Total short-term investments	197,786
Total	1,001,627	1,077,550
Recurring Basis | Level 1
Assets:
Total cash equivalents	640,978
Total short-term investments	9,689
Total	650,667	1,077,550
Recurring Basis | Level 2
Assets:
Total cash equivalents	162,863
Total short-term investments	188,097
Total	350,960	0
Recurring Basis | Level 3
Assets:
Total cash equivalents	0
Total short-term investments	0
Total	0	0
Recurring Basis | U.S. treasury securities
Assets:
Total short-term investments	9,689
Recurring Basis | U.S. treasury securities | Level 1
Assets:
Total short-term investments	9,689
Recurring Basis | U.S. treasury securities | Level 2
Assets:
Total short-term investments	0
Recurring Basis | U.S. treasury securities | Level 3
Assets:
Total short-term investments	0
Recurring Basis | U.S. government agency securities
Assets:
Total short-term investments	24,502
Recurring Basis | U.S. government agency securities | Level 1
Assets:
Total short-term investments	0
Recurring Basis | U.S. government agency securities | Level 2
Assets:
Total short-term investments	24,502
Recurring Basis | U.S. government agency securities | Level 3
Assets:
Total short-term investments	0
Recurring Basis | Commercial paper
Assets:
Total short-term investments	54,083
Recurring Basis | Commercial paper | Level 1
Assets:
Total short-term investments	0
Recurring Basis | Commercial paper | Level 2
Assets:
Total short-term investments	54,083
Recurring Basis | Commercial paper | Level 3
Assets:
Total short-term investments	0
Recurring Basis | Corporate debt securities
Assets:
Total short-term investments	109,512
Recurring Basis | Corporate debt securities | Level 1
Assets:
Total short-term investments	0
Recurring Basis | Corporate debt securities | Level 2
Assets:
Total short-term investments	109,512
Recurring Basis | Corporate debt securities | Level 3
Assets:
Total short-term investments	0
Recurring Basis | Money market funds
Assets:
Total cash equivalents	640,978	1,077,550
Recurring Basis | Money market funds | Level 1
Assets:
Total cash equivalents	640,978	1,077,550
Recurring Basis | Money market funds | Level 2
Assets:
Total cash equivalents	0	0
Recurring Basis | Money market funds | Level 3
Assets:
Total cash equivalents	0	$ 0
Recurring Basis | U.S. government agency securities
Assets:
Total cash equivalents	80,317
Recurring Basis | U.S. government agency securities | Level 1
Assets:
Total cash equivalents	0
Recurring Basis | U.S. government agency securities | Level 2
Assets:
Total cash equivalents	80,317
Recurring Basis | U.S. government agency securities | Level 3
Assets:
Total cash equivalents	0
Recurring Basis | Commercial paper
Assets:
Total cash equivalents	76,704
Recurring Basis | Commercial paper | Level 1
Assets:
Total cash equivalents	0
Recurring Basis | Commercial paper | Level 2
Assets:
Total cash equivalents	76,704
Recurring Basis | Commercial paper | Level 3
Assets:
Total cash equivalents	0
Recurring Basis | Corporate debt securities
Assets:
Total cash equivalents	5,842
Recurring Basis | Corporate debt securities | Level 1
Assets:
Total cash equivalents	0
Recurring Basis | Corporate debt securities | Level 2
Assets:
Total cash equivalents	5,842
Recurring Basis | Corporate debt securities | Level 3
Assets:
Total cash equivalents	$ 0

Investments and Fair Value Me_7

Investments and Fair Value Measurements - Schedule of Fair Value Assumptions (Details)	Mar. 19, 2021 $ / shares	Feb. 26, 2021 $ / shares
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Fair value of underlying securities (in dollars per share)	$ 40	$ 40
Expected volatility
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Measurement input	0.6085	0.6295
Expected term (in years)
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Expected term (in years)	9 months 14 days	1 year 9 months 3 days
Risk-free interest rate
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Measurement input	0.0008	0.0014

Balance Sheet Components - Sche

Balance Sheet Components - Schedule of Property and Equipment, Net (Details) - USD ($) $ in Thousands	Sep. 30, 2022	Dec. 31, 2021
Property Plant And Equipment [Line Items]
Property and equipment, gross	$ 66,484	$ 60,469
Accumulated depreciation and amortization	(28,258)	(24,416)
Property and equipment, net	38,226	36,053
Electronic equipment
Property Plant And Equipment [Line Items]
Property and equipment, gross	14,690	12,761
Office and other equipment
Property Plant And Equipment [Line Items]
Property and equipment, gross	15,195	9,423
Leasehold improvements
Property Plant And Equipment [Line Items]
Property and equipment, gross	13,058	11,984
Buildings
Property Plant And Equipment [Line Items]
Property and equipment, gross	1,841	0
Construction in progress
Property Plant And Equipment [Line Items]
Property and equipment, gross	2,788	5,258
Vehicles
Property Plant And Equipment [Line Items]
Property and equipment, gross	$ 18,912	$ 21,043

Balance Sheet Components - Addi

Balance Sheet Components - Additional Information (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021	Sep. 30, 2022	Sep. 30, 2021	Dec. 31, 2021
Property Plant And Equipment [Line Items]
Depreciation	$ 2,800	$ 2,300	$ 8,300	$ 6,700
Property and equipment, net	38,226		38,226		$ 36,053
Accumulated amortization	28,258		28,258		24,416
Property and equipment, net	6,544		6,544
Accumulated depreciation	1,123		1,123
Lease obligations, not yet commenced	$ 700		$ 700
Minimum
Property Plant And Equipment [Line Items]
Lease term, not yet commenced	4 years		4 years
Maximum
Property Plant And Equipment [Line Items]
Lease term, not yet commenced	5 years		5 years
Financed Under Capital Leases
Property Plant And Equipment [Line Items]
Property and equipment, net					3,300
Accumulated amortization					$ 2,500

Balance Sheet Components - Sc_2

Balance Sheet Components - Schedule of Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Sep. 30, 2022	Dec. 31, 2021
Balance Sheet Related Disclosures [Abstract]
Accrued payroll	$ 27,036	$ 33,225
Accrued information technology services	3,438	1,625
Accrued professional fees	1,769	1,938
Finance lease liabilities, current	1,258	0
Other	6,911	4,910
Accrued expenses and other current liabilities	$ 40,412	$ 41,698

Balance Sheet Components - Summ

Balance Sheet Components - Summary of Balances for Operating and Finance Leases (Details) - USD ($) $ in Thousands	Sep. 30, 2022	Jan. 01, 2022	Dec. 31, 2021
Operating leases:
Operating lease right-of-use assets	$ 46,370	$ 32,900	$ 0
Operating lease liabilities, current	5,983		0
Operating lease liabilities, noncurrent	41,920		0
Total operating lease liabilities	47,903	$ 35,100
Finance leases:
Property and equipment, at cost	7,667
Accumulated depreciation	(1,123)
Property and equipment, net	6,544
Capital lease liabilities, current	1,258		$ 0
Capital lease liabilities, noncurrent	5,661
Total finance lease obligations	$ 6,919

Balance Sheet Components - Sc_3

Balance Sheet Components - Schedule of Lease Expense (Details) - USD ($) $ in Thousands	3 Months Ended	9 Months Ended
	Sep. 30, 2022	Sep. 30, 2022	Sep. 30, 2021
Operating lease expense:
Operating lease expense	$ 2,105	$ 6,395
Finance lease expense:
Amortization of leased assets	384	1,111
Total finance lease expense	139	438
Total finance lease expense	523	1,549
Total lease expense	$ 2,628	$ 7,944
Weighted-average remaining lease term:
Operating leases	8 years 7 months 6 days	8 years 7 months 6 days
Finance leases	5 years 7 months 6 days	5 years 7 months 6 days
Weighted-average discount rate:
Operating leases	4.40%	4.40%
Finance leases	9.10%	9.10%
Cash paid for amounts included in the measurement of lease liabilities:
Operating cash flows from operating leases		$ 5,369
Operating cash flows from finance leases (interest payments)		326
Financing cash flows from finance leases		929	$ 0
Right-of-use assets obtained in exchange for lease obligations:
Operating lease liabilities		48,404
Finance lease liabilities		$ 7,772

Balance Sheet Components - Su_2

Balance Sheet Components - Summary of Operating and Finance Leases (Details) - USD ($) $ in Thousands	Sep. 30, 2022	Jan. 01, 2022	Dec. 31, 2021
Operating Leases
Remainder of 2022	$ 1,432
2023	7,993
2024	7,592
2025	7,452
2026	7,658
Thereafter	28,106
Total minimum lease payments	60,233
Less: lease incentive receivable	(1,488)
Less: imputed interest	(10,842)
Total operating lease liabilities	47,903	$ 35,100
Less: current portion	(5,983)		$ 0
Lease obligations, noncurrent	41,920		0
Finance Leases
Remainder of 2022	453
2023	1,664
2024	1,669
2025	2,468
2026	421
Thereafter	1,911
Total minimum lease payments	8,586
Less: lease incentive receivable	0
Less: imputed interest	(1,667)
Total finance lease obligations	6,919
Less: current portion	(1,258)		$ 0
Lease obligations, noncurrent	$ 5,661

Balance Sheet Components - Sc_4

Balance Sheet Components - Schedule of Operating and Capital Leases Prior to Adoption of ASC 842 (Details) $ in Thousands	Dec. 31, 2021 USD ($)
Operating Leases
2022	$ 7,660
2023	7,891
2024	5,126
2025	3,435
2026	3,049
Thereafter	22,524
Total minimum lease payments	49,685
Capital Leases
2022	1,253
2023	978
2024	963
2025	1,761
2026	0
Thereafter	0
Total minimum lease payments	4,955
Amount representing interest	(1,317)
Present value of minimum lease payments	$ 3,638

Stock-Based Compensation - Addi

Stock-Based Compensation - Additional Information (Details) $ / shares in Units, $ in Thousands	1 Months Ended		9 Months Ended		12 Months Ended
	Mar. 31, 2022 shares	Mar. 31, 2021 USD ($) $ / shares shares	Sep. 30, 2022 USD ($) compensation_plan $ / shares shares	Sep. 30, 2021 USD ($)	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of equity compensation plans maintained by the company | compensation_plan			3
Shares purchased under ESPP (in shares) | shares			249,831
ESPP weighted-average price per share (in dollars per share) | $ / shares			$ 9.15
Proceeds from the issuance of common stock under the Employee Stock Purchase Plan | $			$ 2,286	$ 0
Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized share-based compensation expense | $			$ 14,300
Unrecognized share-based compensation expense, weighted-average service period			2 years 6 months
Stock options contractual life			5 years 3 months 7 days		9 years 14 days
CEO Performance Award | CEO
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock options granted (in shares) | shares		1,150,000
Stock options exercise price (in dollars per share) | $ / shares		$ 14.14
Stock options contractual life		10 years
CEO Performance Award | Former Chief Executive Officer
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Reversed stock-based compensation expense | $		$ 7,100
Modified stock options (in shares) | shares	1,850,000
Shares vested as of the modification date (in shares) | shares	440,000
Outstanding and unvested RSUs (in shares) | shares	175,000
Incremental stock compensation expense | $			$ 13,900
RSUs and SVAs
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized share-based compensation expense, weighted-average service period			2 years 7 months 9 days
Unrecognized share-based compensation expense | $			$ 191,700

Stock-Based Compensation - Summ

Stock-Based Compensation - Summary of Stock Option Activity (Details) - Stock Options $ / shares in Units, $ in Thousands	9 Months Ended	12 Months Ended
	Sep. 30, 2022 USD ($) $ / shares shares	Dec. 31, 2021 USD ($) $ / shares shares
Options Outstanding
Outstanding, beginning of period (in shares) | shares	7,684,778
Exercised (in shares) | shares	(921,742)
Cancelled/Forfeited (in shares) | shares	(1,974,012)
Outstanding, end of period (in shares) | shares	4,789,024	7,684,778
Vested and exercisable (in shares) | shares	2,398,336
Weighted- Average Exercise Price
Outstanding, beginning of period (in dollars per share) | $ / shares	$ 12.91
Exercised (in shares) | $ / shares	1.88
Cancelled/Forfeited (in dollars per share) | $ / shares	17.68
Outstanding, end of period (in dollars per share) | $ / shares	13.25	$ 12.91
Vested and exercisable (in dollars per share) | $ / shares	$ 8.79
Weighted-Average Remaining Life (Years)
Outstanding	5 years 3 months 7 days	9 years 14 days
Vested and exercisable	5 years 3 months 25 days
Aggregate Intrinsic Value
Outstanding | $	$ 12,004	$ 188,722
Vested and exercisable | $	$ 7,612

Stock-Based Compensation - Su_2

Stock-Based Compensation - Summary of Nonvested Restricted Stock Unit Awards (Details) - Restricted Stock Units (RSUs)	9 Months Ended
	Sep. 30, 2022 $ / shares shares
RSUs Outstanding
Unvested and Outstanding, Beginning Balance (in shares) | shares	5,949,798
Granted (in shares) | shares	10,355,782
Vested (in shares) | shares	(2,019,222)
Cancelled (in shares) | shares	(2,086,309)
Unvested and Outstanding, Ending Balance (in shares) | shares	12,200,049
Vested and Outstanding (in shares) | shares	115,150
Weighted-Average Grant Date Fair Value per Share
Unvested and Outstanding, Beginning Balance (in dollars per share) | $ / shares	$ 46.54
Granted (in dollars per share) | $ / shares	8.79
Vested (in dollars per share) | $ / shares	39.01
Cancelled (in dollars per share) | $ / shares	35.33
Unvested and Outstanding, Ending Balance (in dollars per share) | $ / shares	17.66
Vested and Outstanding (in dollars per share) | $ / shares	$ 28.28

Stock-Based Compensation - Su_3

Stock-Based Compensation - Summary of Nonvested Shareholder Value Awards Activity (Details) - Shareholder Value Awards (SVAs)	9 Months Ended
	Sep. 30, 2022 $ / shares shares
SVAs Outstanding
Unvested and Outstanding, Beginning Balance (in shares) | shares	315,559
Vested (in shares) | shares	(172,504)
Cancelled (in shares) | shares	(51,781)
Unvested and Outstanding, Ending Balance (in shares) | shares	91,274
Vested and Outstanding (in shares) | shares	0
Weighted-Average Grant Date Fair Value per Share
Unvested and Outstanding, Beginning Balance (in dollars per share) | $ / shares	$ 5.29
Vested (in dollars per share) | $ / shares	4.79
Cancelled (in dollars per share) | $ / shares	2.97
Unvested and Outstanding, Ending Balance (in dollars per share) | $ / shares	7.55
Vested and Outstanding (in dollars per share) | $ / shares	$ 0

Stock-Based Compensation - Su_4

Stock-Based Compensation - Summary of Total Stock-based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021	Sep. 30, 2022	Sep. 30, 2021
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]
Stock-based compensation expense	$ 23,032	$ 32,082	$ 75,710	$ 90,880
Research and development
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]
Stock-based compensation expense	16,915	22,382	56,771	49,520
Selling, general and administrative
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]
Stock-based compensation expense	$ 6,117	$ 9,700	$ 18,939	$ 41,360

Income Taxes (Details)

Income Taxes (Details)	9 Months Ended
	Sep. 30, 2022
Income Tax Disclosure [Abstract]
Effective tax rate	0%

Net Loss Per Share Attributab_3

Net Loss Per Share Attributable to Common Stockholders - Summary of Calculation of Basic and Diluted Net Loss Per Share Attributable to Common Stockholders (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended						9 Months Ended
	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Sep. 30, 2021	Jun. 30, 2021	Mar. 31, 2021	Sep. 30, 2022	Sep. 30, 2021
Numerator:
Net loss	$ (113,161)	$ (108,595)	$ (111,903)	$ (115,490)	$ (116,529)	$ (385,160)	$ (333,659)	$ (617,179)
Less: Accretion of redeemable convertible preferred stock	0			0			0	(4,135)
Net loss attributable to common stockholders, basic	(113,161)			(115,490)			(333,659)	(621,314)
Net loss attributable to common stockholders, diluted	$ (113,161)			$ (115,490)			$ (333,659)	$ (621,314)
Denominator:
Weighted-average shares used in computing net loss per share, basic (In shares)	224,745,672			212,802,379			223,698,744	152,469,098
Weighted-average shares used in computing net loss per share, diluted (in shares)	224,745,672			212,802,379			223,698,744	152,469,098
Net loss per share:
Net loss per share attributable to common stockholders, basic (in dollars per share)	$ (0.50)			$ (0.54)			$ (1.49)	$ (4.08)
Net loss per share attributable to common stockholders, diluted (in dollars per share)	$ (0.50)			$ (0.54)			$ (1.49)	$ (4.08)

Net Loss Per Share Attributab_4

Net Loss Per Share Attributable to Common Stockholders - Schedule of Antidilutive Securities Excluded from Computation of Earnings Per Share (Details) - shares	9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Antidilutive securities excluded from computation of earnings per share (in shares)	17,133,336	21,537,097
Options to purchase common stock
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Antidilutive securities excluded from computation of earnings per share (in shares)	4,789,024	16,019,239
RSUs subject to future vesting
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Antidilutive securities excluded from computation of earnings per share (in shares)	12,200,049	5,061,779
SVAs subject to future vesting
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Antidilutive securities excluded from computation of earnings per share (in shares)	91,274	411,079
Early exercised options subject to future vesting
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Antidilutive securities excluded from computation of earnings per share (in shares)	25,000	45,000
Common stock contingently issuable under ESPP
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Antidilutive securities excluded from computation of earnings per share (in shares)	27,989	0

Related Party Transactions (Det

Related Party Transactions (Details) $ in Thousands	12 Months Ended
	Dec. 31, 2021 USD ($)
Chairman | Hydron Inc.
Related Party Transaction [Line Items]
Ownership percentage	10%
Hydron Inc.
Related Party Transaction [Line Items]
Related party transaction, amounts of transaction	$ 300

Subsequent Events (Details)

Subsequent Events (Details) $ in Millions				9 Months Ended
	May 16, 2023 USD ($) employee	Dec. 15, 2022 employee	Dec. 14, 2022 shares	Sep. 30, 2022 shares
Restricted Stock Units (RSUs)
Subsequent Event [Line Items]
Granted (in shares) | shares				10,355,782
Subsequent Event | December 2022 and May 2023 Restructuring Plans
Subsequent Event [Line Items]
Number of employees | employee	750
Subsequent Event | December 2022 and May 2023 Restructuring Plans | Minimum
Subsequent Event [Line Items]
Restructuring and related cost, expected cost | $	$ 33
Subsequent Event | December 2022 and May 2023 Restructuring Plans | Maximum
Subsequent Event [Line Items]
Restructuring and related cost, expected cost | $	$ 35
Subsequent Event | December 2022 and May 2023 Restructuring Plans | UNITED STATES
Subsequent Event [Line Items]
Number of employees | employee	250
Subsequent Event | December 2022 Restructuring
Subsequent Event [Line Items]
Number of positions eliminated | employee		350
Subsequent Event | May 2023 Restructuring
Subsequent Event [Line Items]
Number of positions eliminated | employee	300
Subsequent Event | CEO
Subsequent Event [Line Items]
Cancelled/Forfeited (in shares) | shares			1,850,000
Subsequent Event | CEO | Restricted Stock Units (RSUs) | Share-Based Payment Arrangement, Tranche One
Subsequent Event [Line Items]
Granted (in shares) | shares			3,425,000
Vesting period			4 years
Subsequent Event | CEO | Restricted Stock Units (RSUs) | Share-Based Payment Arrangement, Tranche Two
Subsequent Event [Line Items]
Granted (in shares) | shares			3,425,000
Vesting period			4 years