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Loans - Additional Information (Details) $ in Thousands | 1 Months Ended | 3 Months Ended |
--- | --- | --- | ---
Nov. 30, 2023 USD ($) Payment | Jul. 31, 2022 USD ($) Payment | Apr. 30, 2021 USD ($) Payment | Mar. 31, 2024 USD ($) | Dec. 31, 2023 USD ($)
Lab Equipment Loan |  |  |  |  |
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 |  |  |  |
Payment Agreement with Financing Entity |  |  |  |  |
Debt Disclosure [Line Items] |  |  |  |  |
Principal amount |  |  |  | $ 2,594 | $ 2,904
Payment Agreement with Financing Entity | Maximum |  |  |  |  |
Debt Disclosure [Line Items] |  |  |  |  |
Interest expense |  |  |  | $ 100 |
Payment Agreement with Financing Entity | Equipment and Software Loans |  |  |  |  |
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 | Equipment and Software Loans |  |  |  |  |
Debt Disclosure [Line Items] |  |  |  |  |
Payment of debt |  |  | $ 800 |  |
Payment Agreement with Financing Entity | May 2022 | Equipment and Software Loans |  |  |  |  |
Debt Disclosure [Line Items] |  |  |  |  |
Payment of debt |  |  | 800 |  |
Payment Agreement with Financing Entity | May 2023 | Equipment and Software Loans |  |  |  |  |
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 | Equipment and Software Loans |  |  |  |  |
Debt Disclosure [Line Items] |  |  |  |  |
Payment of debt |  | $ 400 |  |  |
Payment Agreement with Financing Entity | September 2023 | Equipment and Software Loans |  |  |  |  |
Debt Disclosure [Line Items] |  |  |  |  |
Payment of debt |  | 400 |  |  |
Payment Agreement with Financing Entity | September 2024 | Equipment and Software Loans |  |  |  |  |
Debt Disclosure [Line Items] |  |  |  |  |
Payment of debt |  | $ 400 |  |  |

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