Annual report pursuant to Section 13 and 15(d)

Income Taxes - Additional Information (Details)

v3.24.0.1
Income Taxes - Additional Information (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Tax Contingency [Line Items]      
Valuation allowance $ 59,968 $ 41,933  
Increase in valuation allowance 18,035    
Unrecognized tax benefits that, if recognized, would affect the effective tax rate 2,778 $ 2,366 $ 2,078
Research and Development Credit | California      
Income Tax Contingency [Line Items]      
Research and development credits carryforwards 4,882    
Federal      
Income Tax Contingency [Line Items]      
Net operating loss carryforwards 126,771    
Net operating loss carryforwards, indefinite life $ 118,975    
Net operating loss carryforwards expiration, beginning year 2033    
Research and development credits carryforwards expiration, beginning year 2024    
Federal | Research and Development Credit      
Income Tax Contingency [Line Items]      
Research and development credits carryforwards $ 6,576    
Foreign      
Income Tax Contingency [Line Items]      
Net operating loss carryforwards 10,851    
Net operating loss carryforwards, indefinite life 10,851    
Research and development credits carryforwards $ 774    
Research and development credits carryforwards expiration, beginning year 2027    
State      
Income Tax Contingency [Line Items]      
Net operating loss carryforwards $ 66,039    
Net operating loss carryforwards expiration, beginning year 2028