Income Taxes - Effective Tax Rate Reconciliation (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Taxes at the statutory federal rate	$ (100,553)	$ (137,276)	$ (80,739)
Capitalized research and expenditures true-up	8,212	0	0
Stock-based compensation	8,077	7,905	1,354
Research and development credits	(14,549)	(15,738)	(14,956)
Change in valuation allowance	114,707	175,916	106,227
State taxes, net of federal benefits	(19,117)	(28,522)	(14,998)
Other	3,908	(1,146)	3,412
Total provision for income taxes	$ 685	$ 1,139	$ 300

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Amount of current income tax expense (benefit) and deferred income tax expense (benefit) pertaining to continuing operations.

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Amount of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to increase (decrease) in the valuation allowance for deferred tax assets.

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The amount of income tax expense or benefit for the period computed by applying the domestic federal statutory tax rates to pretax income from continuing operations.

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