Income Taxes - Significant Components of Net Deferred Taxes (Details) - USD ($) $ in Thousands	Dec. 31, 2024	Dec. 31, 2023
Deferred tax assets:
Net operating loss carryforwards	$ 89,993	$ 87,831
Fixed assets and intangible assets	1,664	1,643
Lease liabilities	763	659
Accruals and reserves	1,025	1,018
Stock-based compensation	710	453
Tax credits	5,759	5,749
Research & Development	4,749	5,093
Other	2,865	2,261
Gross deferred tax assets	107,528	104,707
Less: valuation allowance	(106,745)	(104,007)
Net deferred tax assets	783	700
Deferred tax liabilities:
Right of use assets	(783)	(700)
Total gross deferred tax liabilities	$ (783)	$ (700)