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Income Taxes - Schedule of Tax Effects of Temporary Differences and 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 carryforwards | $ 60,753 | $ 52,616
Deferred compensation | 5,547 | 3,974
Research and development expenses | 4,566 | 1,743
Research and development credits | 2,357 | 1,918
Disallowed interest expense carryover | 830 | 444
Operating lease liability | 388 | 436
Provision for bad debt | 310 | 398
Other | 285 | 144
Gross deferred tax assets | 75,036 | 61,673
Less: Valuation allowance | (74,655) | (61,251)
Deferred tax assets, net of valuation allowance | 381 | 422
Operating lease right-of-use assets | (381) | (422)
Deferred tax liabilities: | (381) | (422)
Net deferred tax assets | $ 0 | $ 0

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