Income Taxes - Schedule of Components of Net Deferred Tax Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Net operating loss carryforwards	$ 85,315	$ 77,563
Capitalized R&D Section 174	44,456	31,964
Stock-based compensation	6,865	4,739
Research and development credit	7,156	2,918
Lease liability	0	1,132
Other temporary differences	282	435
Total gross deferred tax assets	144,074	118,751
Deferred tax liabilities:
Depreciation and amortization	(521)	(779)
ROU asset	0	(440)
Non-qualified stock options with 83(b) election	0	(15)
Total gross deferred tax liabilities	(521)	(1,234)
Net deferred tax assets before valuation allowance	143,553	117,517
Deferred tax asset valuation allowance	(143,553)	(117,517)
Net deferred tax assets	$ 0	$ 0