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Income Taxes - Components of Deferred Tax Assets (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022
--- | --- | ---
Deferred tax assets: |  |
Net operating losses | $ 80,273 | $ 65,197
Property and equipment | 203 | 847
R&D tax credit | 9,224 | 7,346
Stock-based compensation | 3,829 | 2,082
Capitalized R&D expenses | 20,644 | 12,971
Inventory | 2,708 | 2,279
Lease liability | 6,824 | 6,404
Accruals and reserves | 2,713 | 2,758
Total deferred tax assets | 126,418 | 99,884
Valuation allowance | (121,461) | (94,056)
Net deferred tax assets | 4,957 | 5,828
Deferred tax liabilities: |  |
Right-of-use assets | (4,957) | (5,828)
Total deferred tax liabilities | $ (4,957) | $ (5,828)

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