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CONSOLIDATED STATEMENTS OF COMPREHENSIVE LOSS (Parenthetical) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Income Statement [Abstract] |  |  |
Grants participations excluded from research and development costs | $ 3,129 | $ 825 | $ 167

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