Income Taxes - Schedule of Reconciliation of Income Taxes Computed by Applying Statutory Federal Income Tax Rate (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Income tax expense (benefit) at statutory rates	$ (44,566,000)	$ (36,539,000)	$ (24,784,000)
State income tax, net of federal benefit	(5,882,000)	(11,821,000)	(7,868,000)
Permanent items	342,000	1,078,000	210,000
Reserve for uncertain tax positions	5,993,000	2,583,000	1,170,000
Research and development tax credits	(24,054,000)	(9,983,000)	(4,792,000)
Valuation allowance	62,004,000	54,093,000	35,326,000
Stock-based compensation	3,331,000	492,000	828,000
Rate adjustment	2,526,000	(5,000)	(2,000)
Other	306,000	102,000	(88,000)
Income tax expense (benefit)	$ 0	$ 0	$ 0