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Development and Other Agreements (Details) - USD ($)
$ / shares in Units, $ in Millions
 3 Months Ended 12 Months Ended
Mar. 31, 2024
Dec. 31, 2023
Mar. 31, 2022
Dec. 31, 2021
Dec. 31, 2018
Dec. 31, 2019
Dec. 31, 2022
Dec. 28, 2018
Other Commitments [Line Items]                
Shares issued In connection with the restated collaboration agreement (in shares)     2,900,000          
Verily Life Sciences | Collaborative Arrangement                
Other Commitments [Line Items]                
Amortization period (in months)             64 months  
Initial Payment | Verily Life Sciences | Collaborative Arrangement                
Other Commitments [Line Items]                
Closing stock price (in USD per share)               $ 29.57
Initial payment on collaborative agreement         $ 250.0      
Issuance of common stock in connection with acquisition, shares (in shares)         7,400,000      
Collaborative research and development fee       $ 87.1 $ 217.7      
Milestone Payments | Verily Life Sciences | Collaborative Arrangement                
Other Commitments [Line Items]                
Collaborative research and development fee           $ 3.2    
Sales-based milestones             $ 152.4  
Potential future common stock issuable (in shares)               5,200,000
Issuance of common stock in connection with achievement of regulatory approval milestone, net of issuance costs (in shares) 1,500,000 3,700,000