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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 carryforwards | $ 72,722 | $ 70,822
Research and development tax credits | 4,149 | 3,807
Interest expense limitation | 5,120 | 3,036
Property and equipment |  | 234
Capitalized research costs | 4,281 | 2,874
Share-based compensation | 1,685 | 1,619
Lease liability | 6,398 |
Accruals and reserves | 667 | 1,932
Total | 95,022 | 84,324
Valuation allowance | (93,023) | (82,552)
Total deferred tax assets after valuation allowance | 1,999 | 1,772
Deferred Tax Liabilities: |  |
Property and equipment | (4) |
Right-of-Use Asset | (692) |
Intangible assets | (1,303) | (1,772)
Total deferred tax liabilities | $ (1,999) | $ (1,772)

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