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Summary of Significant Accounting Policies and Use of Estimates - Intangible Assets, Net (Details) - USD ($) $ in Thousands | 3 Months Ended |
--- | --- | ---
Mar. 31, 2024 | Mar. 31, 2023 | Dec. 31, 2023
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |
Intangible assets, net | $ 3,767 |  | $ 3,867
Impairments of intangible assets | 0 | $ 0 |
Intangible Assets, Milestone Payment |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |
Intangible assets, net | $ 4,000 |  |
Useful life | 10 years |  |

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