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Equity Incentive Plans and Stock-based Compensation - Stock-Based Compensation Expense (Details) - Options - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation expense	$ 3,098	$ 2,567	$ 5,958	$ 4,677
Research and development
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation expense	1,048	975	2,023	1,843
General and administrative
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation expense	$ 2,050	$ 1,592	$ 3,935	$ 2,834

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- Definition

Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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