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Balance Sheet Components - Schedule of Prepaid Expenses and Other Current Assets (Details) - USD ($)
$ in Thousands
Jun. 30, 2024
Dec. 31, 2023
Organization, Consolidation and Presentation of Financial Statements [Abstract]    
Prepaid expenses $ 5,720 $ 5,377
Prepaid insurance 1,334 648
Receivable from contract manufacturer 2,193 2,028
Insurance receivable 23,375 23,375
Other current assets 908 3,219
Total prepaid expenses and other current assets $ 33,530 $ 34,647