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Stock Plans and Stock-Based Compensation - Schedule of Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
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Jun. 30, 2025 | Jun. 30, 2024 | Jun. 30, 2025 | Jun. 30, 2024
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items] |  |  |  |
Total stock-based compensation expense | $ 1,135 | $ 1,704 | $ 2,299,000 | $ 3,263
Research and development |  |  |  |
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items] |  |  |  |
Total stock-based compensation expense | 492 | 737 | 1,084,000 | 1,546
General and administrative |  |  |  |
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items] |  |  |  |
Total stock-based compensation expense | $ 643 | $ 967 | $ 1,215,000 | $ 1,717

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