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Balance Sheet Accounts and Supplemental Disclosures - Schedule of Property and Equipment, Net (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Dec. 31, 2023
Property, Plant and Equipment [Line Items]          
Total property and equipment $ 6,498   $ 6,498   $ 7,080
Less: accumulated depreciation (5,674)   (5,674)   (5,432)
Property and equipment, net 824   824   1,648
Depreciation and amortization expense 300 $ 500 509 $ 928  
Office equipment          
Property, Plant and Equipment [Line Items]          
Total property and equipment $ 1,097   $ 1,097   1,097
Office equipment | Minimum          
Property, Plant and Equipment [Line Items]          
Estimated Useful Life (in years) 3 years   3 years    
Office equipment | Maximum          
Property, Plant and Equipment [Line Items]          
Estimated Useful Life (in years) 7 years   7 years    
Computer equipment          
Property, Plant and Equipment [Line Items]          
Estimated Useful Life (in years) 5 years   5 years    
Total property and equipment $ 123   $ 123   123
Software          
Property, Plant and Equipment [Line Items]          
Estimated Useful Life (in years) 3 years   3 years    
Total property and equipment $ 52   $ 52   52
Lab equipment          
Property, Plant and Equipment [Line Items]          
Total property and equipment $ 2,664   $ 2,664   3,246
Lab equipment | Minimum          
Property, Plant and Equipment [Line Items]          
Estimated Useful Life (in years) 2 years   2 years    
Lab equipment | Maximum          
Property, Plant and Equipment [Line Items]          
Estimated Useful Life (in years) 5 years   5 years    
Leasehold improvements          
Property, Plant and Equipment [Line Items]          
Total property and equipment $ 2,562   $ 2,562   $ 2,562
Leasehold improvements | Minimum          
Property, Plant and Equipment [Line Items]          
Estimated Useful Life (in years) 6 years   6 years    
Leasehold improvements | Maximum          
Property, Plant and Equipment [Line Items]          
Estimated Useful Life (in years) 7 years   7 years