Income Taxes - Schedule of Significant Components of Net Deferred Tax Asset (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Components of Deferred Tax Assets [Abstract]
Net operating loss carryforwards	$ 47,373	$ 45,609
Tax credit carryforwards	1,961	23,216
Accruals and reserves	1,020	689
Other	3,978	1
Intangibles	4,888	4,607
Non-qualified stock options	2,585	3,647
R&E expenditures	22,497	15,563
Lease liabilities	4,452	4,574
Impairment of long-lived assets	5,509	5,525
Total deferred tax assets	94,263	103,431
Right-of-use assets	(2,224)	(2,308)
Fixed assets	(2)	(47)
Total deferred tax liabilities	(2,226)	(2,355)
Valuation allowance	(92,037)	(101,076)
Net deferred taxes	$ 0	$ 0