Income Taxes - Schedule of Tax Effects of Temporary Differences and Carryforwards of Deferred Tax Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Net operating loss carryforwards	$ 34,717	$ 31,777
Research and development credit carryforwards	19,997	9,454
Lease liability	610	739
Intangible assets	1,096	1,166
Stock-based compensation	2,593	1,713
Accruals and reserves	1,257	1,666
Deferred revenue	0	2,881
Capitalized research & development expenditures	36,267	15,134
Gross deferred tax assets	96,537	64,530
Less: Valuation allowance	(95,888)	(63,761)
Deferred tax assets, net of valuation allowance	649	769
Deferred tax liabilities:
Right-of-use assets	(477)	(527)
Property and equipment	(172)	(242)
Net deferred tax assets	$ 0	$ 0