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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