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Property and Equipment, Net - Narrative (Details) - USD ($) $ in Thousands | 3 Months Ended | 12 Months Ended
--- | --- | ---
Jun. 30, 2023 | Jun. 30, 2023 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Property Plant And Equipment [Line Items] |  |  |  |  |
Depreciation and amortization |  |  | $ 744 | $ 1,567 | $ 1,576
Employee workforce, termination percentage | 83.00% |  |  |  |
Proceeds from the sale of property plant and equipment |  | $ 500 | 475 | 0 | 0
Loss on disposal of long-lived assets |  |  | 915 | 0 | 0
Research and development |  |  |  |  |
Property Plant And Equipment [Line Items] |  |  |  |  |
Loss on disposal of long-lived assets |  | 700 |  |  |
General and administrative |  |  |  |  |
Property Plant And Equipment [Line Items] |  |  |  |  |
Loss on disposal of long-lived assets |  | $ 200 |  |  |
Property, Plant and Equipment |  |  |  |  |
Property Plant And Equipment [Line Items] |  |  |  |  |
Depreciation and amortization |  |  | $ 700 | $ 1,400 | $ 1,400

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