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Stock Plans - Schedule of Stock-based Compensation Expense (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]    
Total share-based compensation expense $ 17,569 $ 20,079
Research and development    
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]    
Total share-based compensation expense 4,969 7,108
General and administrative    
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]    
Total share-based compensation expense $ 12,600 $ 12,971