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Organization and Principal Activities - Additional Information (Details) - USD ($)
$ in Thousands
 9 Months Ended
Sep. 30, 2024
Dec. 31, 2023
Organization Consolidation And Presentation Of Financial Statements [Line Items]    
Date of incorporation Apr. 21, 2003  
Headquartered in South San Francisco  
Headquartered in state CA  
Accumulated deficit $ 714,426 $ 559,408
Unrestricted cash, cash equivalents and marketable securities $ 388,300  
Substantial doubt about going concern, within one year false  
Minimum    
Organization Consolidation And Presentation Of Financial Statements [Line Items]    
Period from issuance date of unaudited interim condensed financial statements 12 months