Income Taxes - Schedule of Significant Components of Net Deferred Income Taxes (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred Tax Assets:
Federal net operating loss carryforwards	$ 33,708	$ 32,320
State net operating loss carryforwards	10,194	8,835
Research and development credit carryforwards	25,975	17,581
Lease liabilities	22,443	4,011
Deferred revenue	9,807	16,315
Accruals and reserves, stock and other	13,636	10,350
Capitalized Research and Development	68,340	36,435
Total deferred tax assets	184,103	125,847
Valuation allowance	(162,375)	(120,096)
Deferred tax assets	21,728	5,751
Fixed and intangible assets	(1,884)	(2,187)
Right-of-use assets	(19,844)	(3,564)
Net deferred tax asset	$ 0	$ 0