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At-The-Market (ATM) Offering - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands | Aug. 31, 2022 | Dec. 31, 2023 | Dec. 31, 2022
--- | --- | --- | ---
Class Of Stock [Line Items] |  |  |
Common Stock, Shares, Issued |  | 43,270,386 | 42,954,820
Common Stock, Par or Stated Value Per Share |  | $ 0.0001 | $ 0.0001
Common stock issued |  | $ 4 | $ 4
Additional paid-in capital |  | $ 550,943 | $ 530,448
Sales Agreement [Member] |  |  |
Class Of Stock [Line Items] |  |  |
Sales agent commissions and expenses | $ 43,400 |  |

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