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Nature of Business and Basis of Presentation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended
Feb. 29, 2024
Mar. 31, 2024
Mar. 31, 2023
Dec. 31, 2023
Organization Consolidation And Presentation Of Financial Statements [Line Items]        
Net Income (Loss)   $ (43,496) $ (35,321)  
Accumulated deficit   (775,565)   $ (732,069)
Proceeds from issuance of common stock under the employee stock purchase plan   $ 89 $ 83  
Sales Agreement [Member]        
Organization Consolidation And Presentation Of Financial Statements [Line Items]        
Issuance of common stock, shares 9,000,000      
Proceeds from issuance of common stock under the employee stock purchase plan $ 39,300      
Sale of stock, price per share $ 4.5