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Stock-Based Compensation - Stock based compensation expense (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Stock based compensation expense    
Total stock-based compensation expense $ 8,188 $ 9,508
Research and development    
Stock based compensation expense    
Total stock-based compensation expense 2,924 3,056
General and administrative    
Stock based compensation expense    
Total stock-based compensation expense $ 5,264 $ 6,452