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Income Taxes - Components of Deferred Tax Assets for Federal and State Income Taxes (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022
--- | --- | ---
Deferred tax assets: |  |
Net operating loss carryforwards | $ 83,983 | $ 72,408
Research and development credits | 22,669 | 16,824
Capitalized research and development | 22,089 | 11,972
Deferred revenue | 362 | 38
Accruals and reserves | 2,883 | 1,914
Stock-based compensation | 4,614 | 5,197
Operating lease liabilities | 13,124 | 13,455
Other intangibles | 209 | 267
Other | 132 | 236
Total gross deferred tax assets | 150,065 | 122,311
Less: valuation allowance | (144,861) | (114,483)
Total deferred tax assets | 5,204 | 7,828
Deferred tax liabilities: |  |
Property and equipment | (113) | (108)
Operating lease right-of-use assets | (5,084) | (7,659)
Total deferred tax liabilities | (5,197) | (7,767)
Net deferred tax assets | $ 7 | $ 61

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