Income Taxes - Components of Net Deferred Tax Asset and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Deferred tax assets:
Lease liabilities	$ 5,860	$ 7,948
Stock-based compensation	3,894	4,755
Accrued compensation	928	1,093
Net operating loss carryforwards	68,304	58,628
Tax credit carryforwards	21,462	15,963
Capitalized Research and Development Cost	26,031	18,857
Fixed assets and intangibles	29	0
Other	20	17
Total deferred tax assets	126,528	107,261
Valuation allowance	(122,966)	(100,656)	$ (58,713)
Net deferred tax assets	3,562	6,605
Deferred tax liabilities:
Right-of-use assets	(3,562)	(6,316)
Fixed assets and intangibles	0	(289)
Total deferred tax liabilities	(3,562)	(6,605)
Net deferred tax assets	$ 0	$ 0