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Commitments and Contingencies - Maturities of Operating Lease Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Leases [Abstract]    
2024 $ 2,932  
2025 2,935  
2026 3,030  
2027 3,133  
2028 325  
Thereafter 147  
Total lease payments 12,502  
Less: imputed interest (1,174)  
Total Operating lease liabilities $ 11,328 $ 14,162