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Loans - Additional Information (Details) $ in Thousands	1 Months Ended			12 Months Ended
	Nov. 30, 2023 USD ($) Payment	Jul. 31, 2022 USD ($) Payment	Apr. 30, 2021 USD ($) Payment	Dec. 31, 2023 USD ($)	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)
Lab Equipment
Debt Disclosure [Line Items]
Principal amount	$ 3,400
Number of equal payments | Payment	24
Percentage of down payment	30.00%
Debt instrument, periodic payment	monthly
Proceeds from loans				$ 3,400
Payment Agreement with Financing Entity
Debt Disclosure [Line Items]
Principal amount				2,904	$ 2,730
Initial present value of payment agreements				6,400
Interest expense				$ 100	$ 200	$ 200
Payment Agreement with Financing Entity | Software
Debt Disclosure [Line Items]
Principal amount		$ 1,300	$ 2,400
Number of equal payments | Payment		3	3
Noninterest bearing rate			0.00%
Imputed interest rate		9.00%	7.00%
Payment Agreement with Financing Entity | Computer Equipment
Debt Disclosure [Line Items]
Principal amount			$ 3,100
Number of equal payments | Payment			3
Payment Agreement with Financing Entity | May 2021 | Software
Debt Disclosure [Line Items]
Payment of debt			$ 800
Payment Agreement with Financing Entity | May 2022 | Software
Debt Disclosure [Line Items]
Payment of debt			800
Payment Agreement with Financing Entity | May 2023 | Software
Debt Disclosure [Line Items]
Payment of debt			800
Payment Agreement with Financing Entity | July 2021 | Computer Equipment
Debt Disclosure [Line Items]
Payment of debt			1,000
Payment Agreement with Financing Entity | June 2022 | Computer Equipment
Debt Disclosure [Line Items]
Payment of debt			1,000
Payment Agreement with Financing Entity | June 2023 | Computer Equipment
Debt Disclosure [Line Items]
Payment of debt			$ 1,000
Payment Agreement with Financing Entity | September 2022 | Software
Debt Disclosure [Line Items]
Payment of debt		$ 400
Payment Agreement with Financing Entity | September 2023 | Software
Debt Disclosure [Line Items]
Payment of debt		400
Payment Agreement with Financing Entity | September 2024 | Software
Debt Disclosure [Line Items]
Payment of debt		$ 400

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