Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred Tax Assets, Net [Abstract]
Federal and state net operating loss carryforwards	$ 45,942	$ 41,179
Federal and California research and development credit carryforwards	11,987	9,058
Share-based compensation expense	2,297	1,899
Capitalized 59(e) Expenses and Amortization	3,274	3,829
Section 174 Capitalized R&D Expenditures	9,717	4,768
Other, net	57	52
Total deferred tax assets	73,274	60,785
ROU asset	(58)	(56)
Total deferred tax liabilities	(58)	(56)
Net deferred tax asset	73,216	60,729
Valuation allowance	(73,216)	(60,729)
Net deferred tax liability	$ 0	$ 0