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Share-Based Compensation - Summary of Share-based Compensation Expense (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Share-based compensation expense $ 17,277 $ 13,123 $ 8,639
Research and development      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Share-based compensation expense 8,910 7,358 4,569
General and administrative      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Share-based compensation expense $ 8,367 $ 5,765 $ 4,070