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Income Taxes - Schedule of Tax Effects of Temporary Differences and Carryforwards of Deferred Tax Assets (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022
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Deferred tax assets: |  |
Net operating loss carryforwards | $ 34,717 | $ 31,777
Research and development credit carryforwards | 19,997 | 9,454
Lease liability | 610 | 739
Intangible assets | 1,096 | 1,166
Stock-based compensation | 2,593 | 1,713
Accruals and reserves | 1,257 | 1,666
Deferred revenue | 0 | 2,881
Capitalized research & development expenditures | 36,267 | 15,134
Gross deferred tax assets | 96,537 | 64,530
Less: Valuation allowance | (95,888) | (63,761)
Deferred tax assets, net of valuation allowance | 649 | 769
Deferred tax liabilities: |  |
Right-of-use assets | (477) | (527)
Property and equipment | (172) | (242)
Net deferred tax assets | $ 0 | $ 0

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