Income Taxes - Schedule of Reconciliation of the Statutory U.S. Federal Tax Rate to the Effective Tax Rate (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Effective Income Tax Rate Reconciliation:
Income taxes at statutory rates	$ (19,912)	$ (19,085)
State income tax, net of federal benefit	(4,422)	(2,615)
Research Credit	(3,945)	(3,434)
Change in valuation allowance	26,988	24,423
Permanent items and other	1,291	711
Income tax expense, total	$ 0	$ 0