Income Taxes - Deferred Income Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Net operating loss carry forward	$ 235,624	$ 161,881
Tax credits	27,311	16,322
Accruals and reserves	3,473	3,309
Stock-based compensation expense	17,029	14,535
Lease liability (ASC 842)	12,333	6,268
Section 174 R&D capitalization	78,673	43,240
Inventory reserves	4,584	1,961
Depreciation and amortization	9,924	2,170
Other	24	20
Total deferred tax assets	388,975	249,706
Valuation allowance	(377,214)	(243,811)
Total deferred tax asset	11,761	5,895
Deferred tax liabilities:
Other	124	162
ROU asset (ASC 842)	11,637	5,801
Total deferred tax liabilities	11,761	5,963
Net deferred tax assets (liabilities)	$ 0	$ (68)