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Stock-Based Compensation - Summary of Common Stock Activity Under the ESPP (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Issuance proceeds	$ 235	$ 0	$ 0
Employee Stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares purchased (in shares)	11,728
Issuance price (in dollars per share)	$ 20.07
Issuance proceeds	$ 235

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