Income Taxes - Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2024	Dec. 31, 2023	Dec. 31, 2022
Deferred income tax assets (liabilities) [Abstract]
R&D credits	$ 21,410	$ 20,984	$ 20,984
Net operating losses and credit carryforwards	67,591	45,313	33,718
Capitalized research and development costs	14,787	17,205	19,085
Stock-based compensation	29,041	28,499	19,781
Warrants	8,713	9,283	8,390
Intangible assets	(5,697)	(5,787)	(5,424)
Other	(7,829)	(8,086)	(6,332)
Valuation allowance	(129,077)	(108,472)	(91,263)
Net deferred income tax asset (liability)	$ (1,061)	$ (1,061)	$ (1,061)