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Term Loan Facility - Schedule of Repayment of Principal Amount (Details) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023
Debt Disclosure [Abstract]
2024 (remaining nine months)	$ 0
2025	10,774
2026	13,036
2027	1,190
Total principal outstanding	25,000
Plus accumulated accretion of final payment fee	493
Less: unamortized debt discount	(536)
Total net carry value	24,957
Term loan, current	(1,892)	$ 0
Total term loan, noncurrent, net	$ 23,065	$ 24,795

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