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Income Taxes - Effective Tax Rate Reconciliation (Details)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure [Abstract]      
Provision at federal statutory tax rate 21.00% 21.00% 21.00%
Change in valuation allowance (25.00%) (14.00%) (30.00%)
Foreign tax rate differential 1.00% 0.00% 0.00%
Stock-based compensation (4.00%) (9.00%) 2.00%
Research and development credits 10.00% 2.00% 5.00%
Disallowed executive compensation (3.00%) 0.00% 0.00%
Restructuring 0.00% 0.00% 2.00%
Effective tax rate 0.00% 0.00% 0.00%