Income Taxes - Schedule of Components of Deferred Tax Assets (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Net operating loss carryforwards	$ 53,376	$ 49,708
Research and other credits	7,482	5,841
R&D Capitalization	16,181	8,183
Reserves and accruals	8,519	8,574
Other	270	291
Total gross deferred tax assets	85,828	72,597
Less valuation allowance	(84,039)	(70,010)
Total deferred tax assets	1,789	2,587
Deferred tax liability:
Depreciation	(1,789)	(2,587)
Other	0	0
Deferred Tax Assets, Net	$ 0	$ 0