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Leases - Narrative (Details)
ft² in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2023
USD ($)
Dec. 31, 2022
USD ($)
Jan. 08, 2024
USD ($)
ft²
Lessee, Lease, Description [Line Items]      
Additional right-of-use assets recorded $ 4,245 $ 2,860  
Total lease payments 6,589    
Removal of lease liability 2,211 1,099  
Right-of-use assets $ 5,859 $ 4,175  
Weighted average discount rate 6.60% 5.70%  
Weighted average remaining lease term 2 years 4 months 24 days 3 years 4 months 24 days  
Cash payments related to lease liabilities $ 2,208 $ 1,092  
Subsequent event      
Lessee, Lease, Description [Line Items]      
Total lease payments     $ 5,100
Lease term     64 months
Area of premises leased | ft²     9
Menlo Park, California, Expiration May 2026      
Lessee, Lease, Description [Line Items]      
Additional right-of-use assets recorded 4,245 $ 2,860  
Total lease payments $ 4,701    
Lease term 36 months    
Cambridge UK, Laboratory and Office Space      
Lessee, Lease, Description [Line Items]      
Disposal of right-of-use asset $ 788    
Removal of lease liability $ 809