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Balance Sheet Components - Schedule of Property and Equipment, Net (Details) - USD ($)
$ in Thousands
Mar. 31, 2024
Dec. 31, 2023
Property, Plant and Equipment [Line Items]    
Total property and equipment $ 29,275 $ 29,276
Less: Accumulated depreciation and amortization (15,509) (14,512)
Property and equipment, net 13,766 14,764
Laboratory equipment    
Property, Plant and Equipment [Line Items]    
Total property and equipment 14,788 14,638
Leasehold improvements    
Property, Plant and Equipment [Line Items]    
Total property and equipment 13,586 13,586
Computer equipment and software    
Property, Plant and Equipment [Line Items]    
Total property and equipment 901 868
Construction in progress    
Property, Plant and Equipment [Line Items]    
Total property and equipment $ 0 $ 184