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Income Taxes - Schedule of Effective Income Tax Rate Reconciliation (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Income Tax Disclosure [Abstract]
Tax at federal statutory rate	21.00%	21.00%
State taxes, net of federal benefit	4.50%	7.20%
Research and development tax credit	1.80%	1.40%
Stock-based compensation	(0.80%)	(1.90%)
Nondeductible interest expense	(0.50%)	(0.50%)
FIN 48 reserve	(0.30%)	(0.20%)
Change in valuation allowance	(23.30%)	(26.80%)
Other	(2.40%)	(0.20%)
Total	0.00%	0.00%

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Effective Income Tax Rate Reconciliation, Reserve For Uncertain Tax Positions, Percent

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Percentage of current income tax expense (benefit) and deferred income tax expense (benefit) pertaining to continuing operations.

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Percentage of domestic federal statutory tax rate applicable to pretax income (loss).

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to changes in the valuation allowance for deferred tax assets.

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to research tax credit.

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