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Balance Sheet Components - Summary of Accrued Liabilities (Details) - USD ($)
$ in Thousands
Mar. 31, 2024
Dec. 31, 2023
Balance Sheet Related Disclosures [Abstract]    
Accrued research and development expenses $ 12,220 $ 10,676
Accrued salaries and benefits 4,260 6,974
Legal and professional fees 856 959
Other 183 147
Accrued liabilities $ 17,519 $ 18,756