Income Taxes - Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Deferred income tax assets (liabilities) [Abstract]
R&D credits	$ 20,984	$ 20,984	$ 35,766
Net operating losses and credit carryforwards	45,313	33,718	26,789
Capitalized research and development costs	17,205	19,085	19,753
Stock-based compensation	28,499	19,781	11,552
Warrants	9,283	8,390	8,382
Intangible assets	(5,787)	(5,424)	0
Other	(8,086)	(6,332)	(8,881)
Valuation allowance	(108,472)	(91,263)	(93,361)
Net deferred income tax asset (liability)	$ (1,061)	$ (1,061)	$ 0