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Commitments and Contingencies - Schedule of Maturities of Operating Lease Liabilities (Details) - USD ($)
$ in Thousands
Sep. 30, 2023
Dec. 31, 2022
Commitments and Contingencies Disclosure [Abstract]    
2023 (remaining three months) $ 693  
2024 2,857  
2025 2,942  
2026 3,031  
2027 3,122  
Thereafter 8,232  
Total undiscounted lease payments 20,877  
Less: imputed interest 5,072  
Total operating lease liability 15,805  
Less: current portion 1,572 $ 1,415
Operating lease liability, net of current portion $ 14,233 $ 15,440