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Stock-Based Compensation - Schedule of Stock-based Compensation Expense (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2024
Sep. 30, 2022
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]    
Total Stock-based compensation expense $ 1,539 $ 2,384
Research and Development    
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]    
Total Stock-based compensation expense 575 855
Selling, General and Administrative    
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]    
Total Stock-based compensation expense $ 964 $ 1,529