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Income Taxes - Components of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022
--- | --- | ---
Deferred tax assets |  |
Net operating loss carryforward | $ 74,454 | $ 68,917
Capitalized 174 R&D costs | 22,532 | 11,097
Intangible assets | 47 | 52
Deferred revenue | 0 | 566
Accrued expense | 579 | 668
Stock-based compensation | 4,246 | 3,293
Other | 88 | 190
Total deferred tax assets | 125,491 | 108,328
Deferred tax liabilities |  |
Depreciable assets | 0 | (676)
Total deferred tax liabilities | 0 | (676)
Less: Valuation allowance | (125,491) | (107,652)
Deferred tax assets, net | 0 | 0
Federal tax credits |  |
Deferred tax assets |  |
Tax credits | 21,914 | 21,914
State tax credits |  |
Deferred tax assets |  |
Tax credits | $ 1,631 | $ 1,631

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