Income Taxes - Summary of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Net operating loss carryforwards	$ 23,201	$ 23,391
Tax credits	16,939	10,191
Deferred revenue	4,305	1,332
Depreciation and amortization	1,159	824
Amortization	479	525
Stock-based compensation	1,126	707
Leasehold liability	17,044	15,489
Capitalized R&D costs	31,515	14,380
Other	3,824	1,441
Total deferred tax assets	99,592	68,280
Deferred tax liabilities:
Right of use Asset	(17,346)	(16,411)
Valuation allowance	$ (82,246)	$ (51,869)