Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Net operating loss carryforwards	$ 41,212	$ 33,187
Accruals and reserves	1,296	1,540
Research and development credits	6,415	4,092
Stock-based compensation	11,348	7,790
Lease liabilities	7,212	7,663
Capitalized research and experimentation	13,502	7,819
Other	0	43
Gross deferred tax assets	80,985	62,134
Valuation allowance	(74,026)	(54,991)
Deferred tax liabilities:
Fixed assets and intangibles	(411)	(216)
Right-of-use assets	(6,426)	(6,927)
Other	(122)	0
Gross deferred tax liabilities	(6,959)	(7,143)
Total net deferred tax assets (liabilities)	$ 0	$ 0