Income Taxes - Significant Components of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Net operating losses	$ 91,285	$ 89,300
Income tax credit carryforwards	48,119	38,674
R&D capitalization	39,341	23,370
Deferred revenue	9,965	2,584
Lease liabilities	7,514	8,468
Amortization	5,136	1,252
Accrued expenses	3,436	2,910
Grant income		1,108
Other, net	4,910	3,612
Total deferred tax assets	209,706	171,278
Deferred tax liabilities:
Right of use assets	(6,084)	(6,965)
Depreciation	(2,003)	(1,948)
Acquired indefinite lived intangibles	(370)	(366)
Total deferred tax liabilities	(8,457)	(9,279)
Valuation allowance	(201,304)	(162,054)
Net deferred tax liability	$ (55)	$ (55)