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Commitments and Contingencies - Purchase Commitment (Details) - USD ($)
$ in Thousands
 3 Months Ended 12 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Dec. 31, 2023
Dec. 31, 2022
Purchase Commitment        
Research and development expense $ 5,521 $ 902 $ 10,712 $ 17,385
Unpaid recorded expenses included in accounts payable 1,242   17,814 19,017
Research and development agreement with Samsung        
Purchase Commitment        
Outstanding purchase commitments 0   0 500
Total fee amount 21,100   21,100  
Fee amount to be paid over development milestones 11,700   11,700  
Additional NRE to be paid as fee amount $ 9,400   $ 9,400  
Period for payment of additional NRE 4 years   4 years  
Research and development expense     $ 400 7,100
Unpaid recorded expenses included in accounts payable     15,800 $ 15,400
Aggregated unpaid amount     $ 17,100