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Stockholders' Equity - Additional Information (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands |  |  |  |  | 12 Months Ended
--- | --- | --- | --- | --- | ---
Aug. 31, 2023 | Jul. 21, 2023 | Oct. 18, 2022 | Aug. 08, 2022 | Dec. 31, 2023 | Dec. 31, 2022
Class Of Stock [Line Items] |  |  |  |  |  |
Common shares registered for resale | 21,900 |  | 24,600 |  |  |
Proceeds from issuance of common stock |  |  |  |  | $ 29,755 | $ 75,145
Private Placement |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |
Shares of common stock sold |  |  |  | 16,100 |  |
Purchase price per share |  |  |  | $ 3.10 |  |
Proceeds from issuance of common stock and pre-funded warrants |  |  |  | $ 75,100 |  |
Stock issuance cost |  |  |  | $ 1,400 |  |
Pre-funded Warrants |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |
Purchase price per share |  | $ 1.3699 |  | $ 3.0999 |  |
Class of warrant or right, number of securities called by warrants or rights |  | 1,200 |  | 8,500 |  |
Class of warrant or right, exercise price of warrants or rights |  | $ 0.0001 |  | $ 0.0001 |  |
2023 Private Placement |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |
Shares of common stock sold |  | 20,700 |  |  |  |
Purchase price per share |  | $ 1.37 |  |  |  |
Proceeds from issuance of common stock and pre-funded warrants |  | $ 29,800 |  |  |  |
Stock issuance cost |  | $ 200 |  |  |  |
Common Stock | Private Placement |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |
Shares of common stock sold |  |  |  |  | 20,735 | 16,129

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