Income Taxes - Significant Components of Deferred Taxes (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Net operating losses	$ 40,455	$ 34,522
Capitalized research and development	38,065	23,569
Tax credit carryforwards	30,071	26,747
Interest limitation attributes	15,814	3,127
Stock-based compensation	8,419	6,726
Intangibles	4,055	4,733
Accrued expenses	3,953	3,101
Inventory	2,316	426
Lease liability	269	460
Total deferred tax assets	143,417	103,411
Deferred tax liabilities:
Operating lease right-of-use assets	(161)	(272)
Fixed assets	(37)	(100)
Total deferred tax liabilities	(198)	(372)
Valuation allowance	(143,219)	(103,039)
Net deferred tax assets	$ 0	$ 0