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Summary of Significant Accounting Policies (Details) - USD ($)
$ in Thousands
 1 Months Ended 3 Months Ended
May 25, 2023
Jul. 30, 2022
Jun. 01, 2021
May 31, 2021
Mar. 31, 2024
Dec. 31, 2023
Research and Development Arrangement, Contract to Perform for Others [Line Items]            
Grant period (in years)       5 years    
Remaining performance obligation         $ 2,200  
Deferred revenue         869 $ 1,090
Research and development arrangement with federal government, total budget       $ 9,300    
Research and development arrangement with federal government, funding for subawards       $ 5,500    
Approved funding, first year     $ 800      
Approved funding, including subawards, first year     $ 400      
Approval for funding, year two $ 3,000 $ 2,600        
Approval for funding, including subawards, year two $ 1,500 $ 1,600        
Prepaid expenses and other current assets         2,262 $ 2,737
Additional Funding Agreement Terms            
Research and Development Arrangement, Contract to Perform for Others [Line Items]            
Compensation earned         2,400  
Prepaid expenses and other current assets         $ 100