Income Taxes - Schedule of Components of Net Deferred Tax Assets (Liabilities) (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Net operating loss carryforwards	$ 18,745	$ 16,261
Capitalized research and development	15,698	8,310
Lease liability	6,868	7,081
Research and development credit carryforwards	6,597	3,377
Stock-based compensation	4,005	3,453
Other	713	430
Total deferred tax assets	52,626	38,912
Valuation allowance	(44,981)	(30,976)
Net deferred tax assets	7,645	7,936
Deferred tax liabilities:
ROU asset	(5,831)	(6,235)
Property and equipment	(1,498)	(1,519)
Other	(316)	(182)
Total gross deferred tax liabilities	$ (7,645)	$ (7,936)