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Balance Sheet Components - Schedule of Prepaid and Other Current Assets (Details) - USD ($)
$ in Thousands
Mar. 31, 2024
Dec. 31, 2023
Prepaid Expense and Other Assets, Current [Abstract]    
Prepaid research and development $ 9,009 $ 11,579
Prepaid taxes 615 614
Prepaid other 2,870 2,471
Total prepaid and other current assets $ 12,494 $ 14,664