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Income Taxes - Net Deferred Tax Assets (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
--- | --- | --- | ---
Deferred tax assets: |  |  |
Net operating loss carryforwards | $ 41,541 | $ 36,518 |
Research and development tax credit carryforwards | 3,802 | 3,836 |
Capitalized research and development costs | 13,043 | 9,965 |
Accrued expenses | 7,230 | 6,660 |
Deferred revenue | 18,206 | 8,884 |
Lease liability | 351 | 490 |
Other | 1,305 | 106 |
Total deferred tax assets | 85,478 | 66,459 |
Valuation allowance | (82,558) | (64,570) | $ (43,966)
Total deferred tax assets, net of valuation allowance | 2,920 | 1,889 |
Deferred tax liabilities: |  |  |
Depreciation and amortization | (2,601) | (1,464) |
Right of use lease asset | (302) | (409) |
Other | (17) | (16) |
Total deferred tax liabilities | (2,920) | (1,889) |
Net deferred tax assets | $ 0 | $ 0 |

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