Income Taxes - Schedule of Net Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Net operating loss carry forward	$ 62,346	$ 59,613
Tax credits	18,261	11,473
Intangible	3,499	3,718
Other	28	923
Stock-based compensation	1,998	2,759
Lease liability	1,542	1,912
Research and development costs	33,341	20,091
Accruals and reserves	1,364	1,190
Total deferred tax assets before valuation allowance	122,379	101,679
Valuation allowance	(120,779)	(99,711)
Total deferred tax assets	1,600	1,968
Deferred tax liabilities:
Right of use assets	(1,528)	(1,899)
Fixed assets	(72)	(69)
Total deferred tax liabilities	(1,600)	(1,968)
Net deferred tax assets (liabilities)	$ 0	$ 0