Income Taxes - Schedule of Components of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Non-current deferred tax assets:
Net operating loss	$ 41,327	$ 37,783
Research and development credits	9,820	9,820
Other credits	1,292	4,165
Operating lease liabilities	516	1,037
Stock-based compensation	983	1,164
Property and equipment and intangible assets	956	0
Capitalized research and development	1,709	912
Accruals and reserves	68	133
Gross non-current deferred tax assets	56,671	55,014
Right-of-use assets, operating leases	(516)	(1,037)
Property and equipment and intangible assets	0	(23)
Total non-current deferred tax liabilities	(516)	(1,060)
Total deferred tax assets	56,155	53,954
Valuation allowance	(56,055)	(53,924)
Net deferred tax assets (liabilities)	$ 100	$ 30