Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Net operating losses	$ 88,552	$ 76,735
R&D credits	79,094	66,761
Equity compensation	8,215	7,888
Operating lease liabilities	356	8,003
Accrued expense and other	9,351	1,479
Deferred revenue	0	314
Capitalized R&D costs	35,987	24,477
Total deferred tax assets	221,555	185,657
Deferred tax liabilities:
Right-of-use assets	(176)	(5,583)
Depreciation	(54)	(171)
Other	0	(251)
Total deferred tax liabilities	(230)	(6,005)
Valuation allowance	(221,325)	(179,652)
Net deferred taxes	$ 0	$ 0