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Commitments and Contingencies - Schedule of Maturities of Operating Lease Liabilities (Details) - USD ($)
$ in Thousands
Mar. 31, 2024
Dec. 31, 2023
Commitments and Contingencies Disclosure [Abstract]    
2024 (remaining nine months) $ 2,143  
2025 2,942  
2026 3,031  
2027 3,122  
2028 3,215  
Thereafter 5,017  
Total undiscounted lease payments 19,470  
Less: imputed interest 4,424  
Total operating lease liability 15,046  
Less: current portion 1,683 $ 1,627
Operating lease liability, net of current portion $ 13,363 $ 13,814