Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2024	Dec. 31, 2023
Deferred tax assets:
Net operating loss carryforwards	$ 81,520	$ 71,963
Research and development credits	23,668	20,555
Research and development capitalization	59,341	39,867
Stock-based compensation	15,312	12,990
Accrued expense	2,783	2,539
Lease liabilities	5,033	4,715
Gross deferred tax assets	187,657	152,629
Less: valuation allowance	(182,642)	(147,616)
Total deferred tax asset	5,015	5,013
Deferred tax liability
Right-of-use assets	(4,595)	(4,641)
Depreciation	(420)	(372)
Total deferred tax liabilities	(5,015)	(5,013)
Net deferred tax assets	$ 0	$ 0