Income Taxes - Schedule of Deferred Tax Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Net operating loss carryforwards	$ 58,324	$ 48,812
Capital loss carryforwards	7,298	7,298
Start-up costs	9,699	9,699
Accruals and reserves	276	629
Intellectual property	4,565	5,057
Stock-based compensation	2,873	2,150
Capitalization of research and development expense	18,702	12,571
Deferred revenue	1,293	2,799
Tax credits	9,324	6,655
Lease liabilities	977	1,029
Total deferred tax assets	113,331	96,699
Valuation allowance	(112,413)	(95,724)
Deferred tax assets, net of valuation allowance	918	975
Deferred tax liabilities:
Lease right-of-use assets	(918)	(975)
Net deferred tax assets	$ 0	$ 0