Income Taxes - Schedule of Components of Deferred Tax Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Net operating loss carryforwards	$ 72,658	$ 56,854
Section 174 R&E capitalization	52,085	25,039
Research and development tax credits	31,053	12,947
Deferred revenue	125	1,762
Accrued expenses	2,809	3,909
Intangibles and fixed assets	1,265	1,822
Lease liabilities	2,342	3,000
Stock-based compensation	12,451	8,614
Total deferred tax assets	174,788	113,947
Less valuation allowance	(172,822)	(111,489)
Net deferred tax assets	1,966	2,458
Deferred tax liabilities:
Right-of-use assets	(1,966)	(2,458)
Total deferred tax liabilities	(1,966)	(2,458)
Net deferred tax assets	$ 0	$ 0