Accrued Liabilities - Schedule of Accrued Compensation and Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Accrued compensation:
Accrued bonuses	$ 14,379	$ 16,455
Accrued paid time off	4,731	4,794
Accrued payroll	3,936	5,113
Other accrued compensation	676
Total accrued compensation	23,722	26,362
Accrued expenses and other current liabilities:
Accrued research and development services	10,110	8,733
Accrued professional fees	1,470	1,158
Accrued property and equipment	9,200	1,790
Other accrued current liabilities	2,682	2,866
Total accrued expenses and other current liabilities	$ 23,462	$ 14,547