Income Taxes - Effective Income Tax Rate Reconciliation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Tax benefit at federal statutory rate	$ (4,530)	$ (13,799)	$ (23,267)
State taxes, net of federal benefits	1,636	(609)	(3,498)
Transaction costs	0	(731)	369
Stock-based compensation	1,747	3,897	2,018
Warrants and earn-outs	226	(15)	(1,710)
Non-deductible officers' compensation	6,386	2,881	8,352
Change in valuation allowance	1,330	7,794	15,971
Research and development credits	(5,398)	0	0
Non-deductible expenses	714	613	0
Other, net	(136)	(62)	(1,371)
Total provision (benefit) for income taxes	$ 1,975	$ (31)	$ (3,136)