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Composition of Certain Consolidated Financial Statement Items - Interest and Other Income (Expense), net (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Organization, Consolidation and Presentation of Financial Statements [Abstract] |  |  |
Interest income | $ 7,551 | $ 2,497 | $ 76
Decrease in fair value of preferred stock warrants | 0 | 0 | (64)
Change in fair value of loan facility derivative liability | (107) | (283) | 135
Other | (176) | (203) | (154)
Total interest and other income, net | $ 7,268 | $ 2,011 | $ 121

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