Income Taxes - Schedule of Reconciliation of Income Taxes to Actual Income Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Income tax benefit at federal statutory rate	$ (15,718)	$ (21,468)	$ (16,265)
State income taxes, net of federal income tax benefit	(2,384)	(2,625)	(3,789)
Foreign Rate Differential	(71)	(77)	39
Permanent differences	594	270	(212)
Stock Based Compensations	(788)	2,203	(5,119)
Executive compensation disallowance	4,010	1,155	1,908
Increase in valuation allowance	15,691	20,279	24,141
Canadian Research and Development Tax credits	(589)	0	0
Other	(219)	350	21
Total income tax expense	$ 526	$ 87	$ 724