Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred income tax assets:
U.S. federal net operating loss carryforward	$ 29,929	$ 33,398
State net operating loss carryforward	1,110	10,465
Research and development expenditures	44,047	35,339
Research and development credits	9,829	1,935
Lease liabilities - operating	12,710	9,876
Stock based compensation	4,600	6,802
Accruals and others	1,323	92
Gross deferred income tax assets	103,548	97,907
Less: Valuation allowance	(91,841)	(89,871)
Total deferred income tax assets	11,707	8,036
Deferred income tax liabilities:
Depreciation	(4,930)	(139)
Right-of-use asset - operating	(5,903)	(7,897)
Section 481(a) adjustment	(874)	0
Total deferred income tax liabilities	(11,707)	(8,036)
Net deferred income tax assets (liabilities)	$ 0	$ 0