Income Taxes - Schedule of Reconciliation of Income Tax Expense (Benefit) (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Income Tax Disclosure [Abstract]
Expected tax benefit computed at federal statutory rate	$ (12,242)	$ (13,242)
State income taxes, net of federal tax benefit	(2,827)	(3,754)
Permanent differences	3,567	1,899
Research and development credits	(4,300)	(2,930)
Reserve for uncertain tax positions	1,058	715
Other	124	80
Change in valuation allowance	$ 14,620	$ 17,232