Income Taxes - Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets
Net operating loss carryforwards	$ 77,309	$ 66,912
Research & Development Costs	15,001	5,846
Operating lease liability	4,677	5,363
Stock-based compensation	6,073	4,622
Research & Development Credits	7,368	0
Other	1,892	1,644
Total deferred tax assets	112,320	84,387
Deferred tax liabilities
Depreciation and amortization	(7,727)	(1,986)
Deferred commissions and bonus	(13,261)	(9,849)
Operating lease right-of-use asset	(2,145)	(2,340)
Other	(823)	(940)
Total deferred tax liabilities	(23,956)	(15,115)
Less: Valuation allowance	(88,670)	(69,272)
Net deferred tax asset (liability)	$ (306)	$ 0