Income Taxes - Schedule of Deferred Income Taxes (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Net operating losses	$ 52,757	$ 41,256
Capitalized research and development expenditure	29,318	17,045
Tax credits	15,047	9,347
Lease liability	2,613	3,176
Stock-based compensation	2,880	1,631
Accrued expenses and other	1,713	1,368
Total deferred tax assets	104,328	73,823
Valuation allowance	(101,290)	(71,129)
Deferred tax assets, net of valuation allowance	3,038	2,694
Deferred tax liabilities:
Right-of-use asset	(2,098)	(2,453)
Property and equipment	$ (940)	$ (241)