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Income Taxes - Additional Information (Details) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022
Income Tax [Line Items] |  |
Tax years open for examination | 2018 2019 2020 2021 |
Net operating loss carryforwards | $ 52,100 |
Net operating loss carryforwards, Expiration date | Dec. 31, 2037 |
Valuation allowance, Deferred tax asset, increase (decrease) | $ 7,000 | $ 4,000
Federal income tax rate | 21.00% | 21.00%
Capitalized research expenses | $ 6,515 | $ 4,154
Federal |  |
Income Tax [Line Items] |  |
Net operating loss carryforwards | $ 52,300 |
Capitalized expenses amortization period | 5 years |
State |  |
Income Tax [Line Items] |  |
Net operating loss carryforwards | $ 52,300 |
Foreign |  |
Income Tax [Line Items] |  |
Capitalized expenses amortization period | 15 years |
Foreign | United Kingdom |  |
Income Tax [Line Items] |  |
Net operating loss carryforwards | $ 20,500 |
Foreign | Belgium |  |
Income Tax [Line Items] |  |
Net operating loss carryforwards | $ 9,100 |

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