Income Taxes - Effective Income Tax Rate (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Tax benefit at U.S. federal statutory rate	$ (78,462)	$ (62,023)	$ (50,788)
Stock based compensation	(8,287)	(7,844)	0
162M limitation	3,183	7,996	22
Other nondeductible expenses	53	16	5
State income taxes benefit before valuation allowance, net of federal benefit	(16,246)	13,090	(19,622)
Increase in domestic valuation allowance	112,606	59,466	79,258
Research and development credit	(12,971)	(10,712)	(9,002)
Other adjustments	124	11	127
Income tax expense (benefit)	$ 0	$ 0	$ 0