Income Taxes - Schedule of Statutory and Effective Income Tax Rate Reconciliation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
At federal statutory income tax rate	$ (33,769)	$ (25,918)	$ (17,532)
State income taxes	(1,481)	(2,659)	(105)
Stock-based compensation	3,645	2,368	(4,031)
Research & development credits	(7,185)	(1,779)	(2,131)
Change in valuation allowance	64,486	9,067	11,476
Other	189	36	172
Foreign rate differential	(23)	18,949	11,032
Prior period true ups			1,098
Rate benefit of reorganization	$ (25,862)
Provision (benefit) for income taxes		$ 64	$ (21)