Income Taxes - Narrative (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Tax Credit Carryforward [Line Items]
Increase (decrease) in valuation allowance	$ 19,000	$ 24,800
Research and development credits	6,415	4,092
Unrecognized tax benefits	2,364	1,586	$ 839
Federal
Tax Credit Carryforward [Line Items]
Operating loss carryforwards	148,100	119,400
Research and development credits	5,100	3,000
State
Tax Credit Carryforward [Line Items]
Operating loss carryforwards	151,800	122,500
Research and development credits	$ 4,300	$ 3,100