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Income Taxes - Schedule of Effective Income Tax Rate Reconciliation (Details) - USD ($) $ in Thousands	12 Months Ended
	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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Amount of current income tax expense (benefit) and deferred income tax expense (benefit) pertaining to continuing operations.

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