Income Taxes - Significant Components of Net Deferred Tax Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Net operating loss carryforwards	$ 156,046	$ 136,487
Tax credits	23,728	23,193
Lease liability	2,686	1,398
Accruals and other	1,887	1,587
Capitalized R&D	25,067	10,544
Share-based compensation	9,364	7,628
Gross deferred tax assets	218,778	180,837
Valuation allowance	(181,713)	(161,098)
Net deferred tax assets	37,065	19,739
Deferred tax liability:
Operating lease right-of-use assets	(2,706)	(1,355)
Fixed Assets	(466)	(180)
Net deferred tax assets	$ 33,893	$ 18,204