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Income Taxes - Components of Net Deferred Tax Assets (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022
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Components of Deferred Tax Assets [Abstract] |  |
Net operating loss carryforwards | $ 170,402 | $ 131,423
Research and development credits | 65,225 | 63,164
Depreciation and amortization | 37,211 | 51,877
Stock-based compensation | 30,370 | 32,561
Sales related accruals | 38,474 | 23,864
Other accruals | 42,480 | 19,717
Capitalized research and development | 46,062 | 17,673
Gross deferred tax assets | 430,224 | 340,279
Right-of-use asset | (1,538) | (1,903)
In-process research and development | (6,403) | (603)
Gross deferred tax liabilities | (7,941) | (2,506)
Total net deferred tax asset | 422,283 | 337,773
Less valuation allowance | (423,385) | $ (337,773)
Net deferred tax liabilities | $ (1,102) |

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