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Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
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)