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Balance Sheet Components - Components of Accrued Expenses and Other Current Liabilities (Details) - USD ($)
$ in Thousands
Sep. 30, 2024
Dec. 31, 2023
Balance Sheet Related Disclosures [Abstract]    
Accrued clinical and nonclinical study costs $ 10,144 $ 8,873
Accrued contract manufacturing 7,007 9,543
Accrued compensation and related expenses 4,643 6,067
Accrued property and equipment 189 179
Other 2,403 2,205
Total accrued expenses and other current liabilities $ 24,386 $ 26,867