Accrued Liabilities - Schedule of Accrued Compensation and Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Sep. 30, 2024	Dec. 31, 2023
Accrued compensation:
Accrued bonuses	$ 8,813	$ 14,379
Accrued paid time off	4,570	4,731
Accrued payroll	4,131	3,936
Other accrued compensation	536	676
Total accrued compensation	18,050	23,722
Accrued expenses and other current liabilities:
Accrued research and development services	9,733	10,110
Accrued professional fees	1,725	1,470
Accrued property and equipment	199	9,200
Other accrued current liabilities	3,705	2,682
Total accrued expenses and other current liabilities	$ 15,362	$ 23,462