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Stock-based Compensation - Narrative (Details) - USD ($)
1 Months Ended 3 Months Ended
Jan. 31, 2024
Jun. 30, 2023
Mar. 31, 2024
Mar. 31, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Share-based payment arrangement, noncash expense     $ 3,171,000 $ 2,809,000
Expiration period     10 years  
Award vesting period     4 years  
One Year        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period     1 year  
Share-based compensation arrangement by share-based payment award, expiration period     25.00%  
Three Years        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period     3 years  
Share-based compensation arrangement by share-based payment award, expiration period     75.00%  
ESPP        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Share-based compensation arrangement by share-based payment award, consecutive offering period   24 months    
Purchase price of common stock   85.00%    
Share-based compensation arrangement by share-based payment award, maximum employee subscription amount   $ 25,000    
Number of shares authorized (in shares)   2,000,000    
Share-based payment arrangement, noncash expense     $ 77,000 0
Stock options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Share-based payment arrangement, noncash expense     1,514,000 922,000
Award vesting period 3 years      
Compensation not yet recognized, stock options     13,300,000  
Stock options | Tranche One        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period 1 year      
Award vesting rights 33.00%      
Stock options | Tranche Two        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period 2 years      
Award vesting rights 67.00%      
RSAs and RSUs        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Share-based payment arrangement, noncash expense     1,317,000 $ 1,126,000
Compensation not yet recognized, share-based awards other than options     $ 6,500,000