Income Taxes - Schedule of Components of Deferred Tax Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax asset:
Federal and State net operating loss carryforwards	$ 81,881	$ 49,481
Stock based compensation	2,401	9,667
Other accruals	527	515
Capitalized research and development expense	3,220	3,094
Tax credits	8,343	7,970
Disallowed interest expense carryforward	1,043	0
Gross deferred tax asset	97,415	70,727
Valuation allowance	(85,111)	(69,692)
Total deferred tax assets	12,304	1,035
Deferred tax liabilities:
Property and equipment	0	(11)
Capitalized leases	0	(32)
IP R&D	(17,608)	(1,239)
Gross deferred tax liabilities	(17,608)	(1,282)
Net deferred tax liabilities	$ (5,304)	$ (247)