Summary of Significant Accounting Policies - Schedule of Computation of Basic and Diluted Earnings per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Numerator:
Net loss, basic	$ (163,415)	$ (135,665)	$ (83,988)
Add: Change in fair value of Holdback Indemnification liability	0	(214)	0
Add: Change in fair value of Contingent Milestone liability	0	(700)	0
Net loss, diluted	$ (163,415)	$ (136,579)	$ (83,988)
Denominator:
Weighted-average shares of common stock outstanding, basic	40,885,124	33,839,072	30,321,722
Effect of dilutive securities:
Weighted Average Holdback Indemnification Shares Issuable	0	19,590	0
Weighted Average Contingent Milestone Shares	0	123,831	0
Weighted-average shares of common stock outstanding, diluted	40,885,124	33,982,493	30,321,722
Earnings Per Share, Basic	$ (4)	$ (4.01)	$ (2.77)
Earnings Per Share, Diluted	$ (4)	$ (4.02)	$ (2.77)