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Income Taxes - Tax Rate Reconciliation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Rate Reconciliation
Tax benefit at federal statutory rate	$ (15,995)	$ (6,996)	$ (4,429)
State taxes	(2,208)	(494)	(2,235)
Research and development credits	(925)	(1,793)	(1,132)
Foreign operations taxed at different rates	0	78	80
Stock-based compensation	1,967	239	(2,698)
Other nondeductible items	438	(238)	711
Executive compensation	152	80	257
Change in valuation allowance	16,640	9,400	9,635
Provision for income taxes	$ 69	$ 276	$ 189

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Effective Income Tax Rate Reconciliation, Nondeductible Expense, Executive Compensation

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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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Amount of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to increase (decrease) in the valuation allowance for deferred tax assets.

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