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Stock-based Compensation - Stock-Based Compensation Expense (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]        
Total $ 1,437 $ 1,841 $ 2,891 $ 3,650
Research and development        
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]        
Total 729 480 1,475 901
General and administrative        
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]        
Total $ 708 $ 1,361 $ 1,416 $ 2,749