Income Taxes - Schedule of Components of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2024	Dec. 31, 2023
Income Tax Disclosure [Abstract]
Net operating loss carryforwards	$ 68,180	$ 63,461
Research and development and other credits	9,433	8,890
Patents and licenses	1,612	1,606
Stock-based compensation	3,841	3,117
Operating lease liability	233	240
Capitalized research expense	8,441	6,217
Other	1,688	1,707
Total deferred tax assets	93,428	85,238
Valuation allowance	(86,314)	(80,513)
Deferred tax assets, net of valuation allowance	7,114	4,725
Operating lease ROU assets	(219)	(221)
Intangibles	(7,168)	(4,771)
Marketable securities at fair value	0	(6)
Total deferred tax liabilities	(7,387)	(4,998)
Net deferred tax liabilities	$ (273)	$ (273)