Income Taxes - Schedule of Deferred Income Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Net operating loss carryforwards	$ 111,904	$ 107,341
Credit Carryforwards	22,428	15,876
Stock-based compensation	7,187	7,124
Accruals and reserves	550	544
Operating lease liability	2,049	2,806
Fixed assets	86	0
Capitalized research and development costs	25,277	14,674
Intangibles	428	145
Accumulated other comprehensive loss	45	190
Other	175	167
Gross tax assets	170,129	148,867
Valuation allowance	(161,456)	(139,291)
Realizable deferred tax assets	8,673	9,576
Deferred tax liabilities:
Deferred commission costs	(9,491)	(8,962)
Operating lease right-of-use assets	(1,720)	(2,428)
Fixed assets	0	(22)
Gross deferred liabilities	(11,211)	(11,412)
Net deferred tax assets (liabilities)	$ (2,538)	$ (1,836)