Income Taxes - Summary of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred Tax Assets, Net [Abstract]
Federal and state NOL carryforward	$ 27,539	$ 21,945
Research and other credits	6,051	3,762
Capitalized R&D	25,264	12,731
Fixed assets	3	2
Reserves and accruals	755	519
Stock based compensation	2,978	1,430
Other intangibles	8,313	8,583
Other DTA	384	402
Lease liability	804	1,360
Total gross DTA	72,091	50,734
Less: valuation allowance	(71,372)	(49,648)
Total deferred tax assets	719	1,086
Right of use	(619)	(1,086)
Other DTL	(100)	0
Total gross DTL	(719)	(1,086)
Net deferred tax assets	$ 0	$ 0