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Commitments and Contingencies - Future Minimum Rental Payments under Operating Leases with Noncancelable Terms (Details) - USD ($) $ in Thousands | Jun. 30, 2024 | Dec. 31, 2023
--- | --- | ---
Loss Contingencies [Line Items] |  |
Less: current portion | $ (939) | $ (952)
Noncurrent operating lease obligations | 8,663 | $ 9,160
Brisbane, California and Ann Arbor Michigan |  |
Loss Contingencies [Line Items] |  |
2024 (excluding six months ended June 30, 2024) | 898 |
2025 | 1,861 |
2026 | 1,926 |
2027 | 1,994 |
2028 and beyond | 6,410 |
Total minimum lease payments | 13,089 |
Less: imputed interest | (3,487) |
Present value of operating lease obligations | 9,602 |
Less: current portion | (939) |
Noncurrent operating lease obligations | $ 8,663 |

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