Balance Sheet Details - Schedule of Accrued Expenses (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Accrued Liabilities, Current [Abstract]
Accrued research and development expenses	$ 1,009	$ 3,080
Accrued compensation expenses	13,318	8,447
Accrued professional & consulting expenses	1,771	3,000
Accrued sales discounts and allowances	982	0
Accrued other	117	151
Total accrued expenses	$ 17,197	$ 14,678