Income Taxes - Schedule of Deferred Income Tax Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Income Tax Disclosure [Abstract]
Capitalized research and development costs	$ 12,706	$ 13,862
Net operating loss carryforward	22,959	25,710
Property and equipment	3,445	4,142
Accrued liabilities, reserves and other expenses	2,781	3,877
Research and development credits	6,430	6,430
Tax credits	681	717
Stock-based compensation	1,733	1,834
Operating lease liabilities	2,831	3,999
Other	167	120
Gross deferred income tax assets	53,733	60,691
Deferred income tax liabilities:
Intangible assets	(2,299)	(2,269)
Right-of-use assets	(2,688)	(3,534)
Prepaid and other expenses	(158)	(162)
Gross deferred income tax liabilities	(5,145)	(5,965)
Net deferred income tax assets	48,588	54,726
Valuation allowance	(2,328)	(2,328)
Total deferred income tax assets	$ 46,260	$ 52,398