Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Net operating loss carryforwards	$ 71,963	$ 66,067
Research and development credits	20,555	15,234
Research and development capitalization	39,867	19,900
Stock-based compensation	12,990	8,725
Accrued expense	2,539	1,190
Lease liabilities	4,715	511
Gross deferred tax assets	152,629	111,627
Less: valuation allowance	(147,616)	(111,053)
Total deferred tax asset	5,013	574
Deferred tax liability
Right-of-use assets	(4,641)	(500)
Depreciation	(372)	(74)
Total deferred tax liabilities	(5,013)	(574)
Net deferred tax assets	$ 0	$ 0