Income Taxes, Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred Income Tax Assets [Abstract]
Net operating loss carryforwards	$ 89,525	$ 77,008
Tax credit carryforwards	9,855	13,358
Stock-based compensation	4,528	7,309
Operating lease liabilities	3,385	4,344
Loss on marketable securities	2,195	5,724
Capitalized research and development	30,878	12,005
Other	2,938	3,925
Total deferred income tax assets	143,304	123,673
Deferred Income Tax Liabilities [Abstract]
Operating lease right-of-use assets	(215)	(4,258)
Property and equipment	(3,558)	(381)
Total deferred income tax liabilities	(3,773)	(4,639)
Valuation allowance	(139,531)	(119,034)
Net deferred tax assets (liabilities)	$ 0	$ 0