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Equity Incentive Plans - Summary of Stock-based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
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Sep. 30, 2024 | Sep. 30, 2023 | Sep. 30, 2024 | Sep. 30, 2023
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Stock based compensation expense | $ 7,494 | $ 6,552 | $ 20,331 | $ 19,199
Research and Development |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Stock based compensation expense | 2,978 | 2,576 | 7,994 | 7,607
General and Administrative |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Stock based compensation expense | $ 4,516 | $ 3,976 | $ 12,337 | $ 11,592

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