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Income Taxes - Schedule of Effective Income Tax Rate Reconciliation (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Income Tax Disclosure [Abstract] |  |  |
Tax benefit at federal statutory rate | $ (26,188) | $ (27,205) | $ (7,627)
State income taxes | (431) | (344) | 398
Tax credits, net of uncertain tax positions | (14,460) | (15,138) | (7,042)
Uncertain tax positions | 612 | 2,687 | 0
Stock-based compensation | 4,842 | 4,919 | (2,368)
Change in valuation allowance | 40,661 | 38,421 | 16,800
Other | 176 | (86) | (161)
Income tax provision | $ 5,212 | $ 3,254 | $ 0

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