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Stockholders' Equity - Schedule of Stock-based Compensation Expense (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2024
Dec. 31, 2023
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]    
Total share-based compensation expense $ 14,350 $ 17,569
Research and development    
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]    
Total share-based compensation expense 4,544 4,969
General and administrative    
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]    
Total share-based compensation expense $ 9,806 $ 12,600