Income Taxes - Schedule of Components of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Net operating loss carryforward	$ 54,252	$ 40,101
Credits	13,371	9,433
Lease liability	15,193	11,673
Section 174 capitalized research and development	13,765	7,408
Other	5,338	3,972
Total deferred tax assets	101,919	72,587
Valuation allowance	(86,196)	(59,435)
Net deferred tax assets	15,723	13,152
Deferred tax liabilities:
Right-of-use lease assets	(13,227)	(10,983)
Fixed assets	(2,496)	(2,169)
Total deferred tax liabilities	(15,723)	(13,152)
Total net deferred taxes	$ 0	$ 0