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Supplemental Balance Sheet Information - Schedule of Property and Equipment (Details) - USD ($)
$ in Thousands
Sep. 30, 2024
Dec. 31, 2023
Supplemental Balance Sheet Information [Line Items]    
Property and equipment, gross $ 19,708 $ 19,725
Less: accumulated depreciation and amortization (18,047) (15,869)
Property and equipment, net 1,661 3,856
Leasehold Improvements [Member]    
Supplemental Balance Sheet Information [Line Items]    
Property and equipment, gross 930 904
Lab equipment [Member]    
Supplemental Balance Sheet Information [Line Items]    
Property and equipment, gross 15,553 15,540
Machinery and Equipment [Member]    
Supplemental Balance Sheet Information [Line Items]    
Property and equipment, gross 572 572
Computer equipment and software [Member]    
Supplemental Balance Sheet Information [Line Items]    
Property and equipment, gross 1,381 1,279
Furniture and Fixtures [Member]    
Supplemental Balance Sheet Information [Line Items]    
Property and equipment, gross 1,272 1,272
Construction in Progress [Member]    
Supplemental Balance Sheet Information [Line Items]    
Property and equipment, gross $ 0 $ 158