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Equity Incentive Plan and Stock-Based Compensation - Summary of Total Stock-Based Compensation (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2024 | Sep. 30, 2023 | Sep. 30, 2024 | Sep. 30, 2023
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Total stock-based compensation | $ 1,902 | $ 2,169 | $ 6,558 | $ 6,180
Research and Development Expense |  |  |  |
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Total stock-based compensation | 796 | 1,045 | 3,164 | 3,113
General and Administrative Expense |  |  |  |
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Total stock-based compensation | $ 1,106 | $ 1,124 | $ 3,394 | $ 3,067

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