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Stock-Based Compensation - Summary of stock-based compensation expense (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |
Stock-based compensation | $ 14,108 | $ 11,948
Time-based stock options |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |
Stock-based compensation | 12,606 | 11,630
Performance and market-based stock options |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |
Stock-based compensation | 1,318 | 84
Employee stock purchase plan |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |
Stock-based compensation | 184 | 234
Research and development |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |
Stock-based compensation | 4,408 | 4,303
General and administrative |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |
Stock-based compensation | $ 9,700 | $ 7,645

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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 14.F) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479830/718-10-S99-1 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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