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Restructuring Charges - Narrative (Details) - USD ($) $ in Thousands |  | 1 Months Ended | 3 Months Ended | 12 Months Ended |
--- | --- | --- | --- | --- | ---
Jun. 30, 2023 | Apr. 30, 2023 | Jun. 30, 2023 | Jun. 30, 2023 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Aug. 31, 2023
Restructuring Cost and Reserve [Line Items] |  |  |  |  |  |  |  |
Employee workforce, termination percentage |  | 83.00% |  | 83.00% |  |  |  |
Cash severance payments and other employee-related costs |  |  |  |  | $ 6,400 |  |  |
Cash payments for employee related restructuring charges |  |  |  |  | 5,300 |  |  |
Non-cash stock-based compensation expense related to accelerated vesting of stock-based awards |  |  |  |  | 1,000 |  |  |
Total consideration from disposal of long lived assets | $ 500 |  | $ 500 | $ 500 |  |  |  |
Loss on disposal of long-lived assets |  |  |  |  | $ 915 | $ 0 | $ 0 |
Lease asset impairment | 900 |  |  |  |  |  |  |
Impairment on leasehold improvements | $ 1,700 |  |  |  |  |  |  |
Termination fee amount |  |  |  |  |  |  |  | $ 2,000
Research and development |  |  |  |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |  |  |  |
Loss on disposal of long-lived assets |  |  | 700 |  |  |  |  |
General and administrative |  |  |  |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |  |  |  |
Loss on disposal of long-lived assets |  |  | $ 200 |  |  |  |  |

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