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Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022
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Deferred tax assets: |  |
Net operating loss carryforward | $ 320,998 | $ 313,834
Research and development credits | 59,417 | 60,245
Section 174 capitalized research and development | 28,822 | 20,903
Stock-based compensation | 15,413 | 23,991
Lease liabilities | 1,471 | 2,052
Other | 5,005 | 3,693
Total gross deferred tax assets | 431,126 | 424,718
Deferred Tax Liabilities, Net [Abstract] |  |
Right-of-use lease assets | (1,362) | (1,914)
Total gross deferred tax liabilities | (1,362) | (1,914)
Valuation allowance | $ (429,764) | $ (422,804)

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