Income Taxes - Schedule of the Components of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Net operating losses carryforwards	$ 344,314	$ 294,757
Capitalized research and development costs	122,162	89,084
Property, equipment and intangible assets	12,161	7,422
Accruals and reserves	40,172	12,917
Research and development credits	62,533	49,865
Stock-based compensation	18,278	16,507
Lease liabilities	54,564	59,757
Other	73	4,378
Total deferred tax assets	654,257	534,687
Deferred tax liabilities:
Right-of-use asset	(40,213)	(44,825)
Equity security investments	(9,044)	0
Other	(206)	(316)
Total deferred tax liabilities	(49,463)	(45,141)
Less: valuation allowance	(603,747)	(489,040)
Net deferred tax assets	$ 1,047	$ 506