Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Net operating losses	$ 136,901	$ 131,346
Research and development tax credits	19,240	18,122
Amortization	730	916
Lease liability	3,018	3,504
Stock based compensation	809	576
Other	449	378
Capitalized R&D	6,466	4,138
Fixed Assets	0	10
Total gross deferred tax assets	167,613	158,990
Less: valuation allowance	(164,643)	(155,514)
Total deferred tax assets	2,970	3,476
Deferred tax liability:
Right-of-use assets	(2,970)	(3,476)
Total gross deferred tax liabilities	(2,970)	(3,476)
Net deferred tax assets	$ 0	$ 0