Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Deferred Tax Assets:
Net operating loss carryforwards	$ 65,601	$ 68,499
Operating lease right-of-use asset liability	4,414	5,641
Deferred revenue	0	0
Stock-based compensation	2,285	1,846
Intangible assets	704	1,060
Fixed Assets	768	574
Accruals and reserves	1,074	1,480
Sec 174 Capitalized R&D	27,871	15,803
Research and development credit carryforwards		26
Tax credits	28
Gross deferred tax assets	102,745	94,928
Less: Valuation allowance	(99,069)	(89,490)
Deferred tax assets, net of valuation allowance	3,676	5,439
Deferred tax liabilities:
Fixed assets	0	0
Basis Difference IPR&D	0	0
Operating lease right-of-use asset	(3,676)	(5,439)
Net deferred tax asset	$ 0	$ 0