Income Taxes - Summary of Reconciliation of Income Tax (Expense) Benefit Statutory Tax Rate to Effective Tax Rate (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Income tax benefit computed at statutory rates	$ 29,054	$ 21,429	$ 18,757
Change in valuation allowance	(32,248)	(33,936)	(20,111)
Foreign rate differential	(2)	1	(19)
State income taxes, net of federal benefit	7,653	5,824
State deferred tax true-up due to change in apportionment	2,030	6,517
Unrecognized tax benefits	(9,940)
Research and development credits, net of uncertain tax position	3,275	2,130	1,331
Executive compensation limitation	(3,971)
Other	282	(1,984)	189
Income tax (expense) benefit	$ (3,867)	$ (19)	$ 147