Income Taxes - Temporary Differences and Carryforwards and Deferred Tax Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Deferred Tax Assets
Net operating loss carryforwards	$ 85,173	$ 77,057
Research and development credits	5,342	4,464
Accruals and reserves	3,698	2,616
Interest limitation	4,378	4,447
Depreciation and amortization	474	263
Stock compensation	3,474	3,378
Operating lease liabilities	735	1,079
Capitalized research and development	4,614	2,486
Total deferred tax assets	107,888	95,790
Operating lease right-of-use assets	(678)	(1,014)
Total deferred tax liabilities	(678)	(1,014)
Less: Valuation allowance	(107,210)	(94,776)	$ (78,786)
Total deferred tax asset, net of valuation allowance	$ 0	$ 0