Commitments and Contingencies - Future Minimum Rental Payments under Operating Leases with Noncancelable Terms (Details) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023
Loss Contingencies [Line Items]
Less: current portion	$ (858)	$ (952)
Noncurrent operating lease obligations	8,915	$ 9,160
Brisbane, California and Ann Arbor Michigan
Loss Contingencies [Line Items]
2024 (excluding three months ended March 31, 2024)	1,446
2025	1,861
2026	1,926
2027	1,994
2028 and beyond	6,410
Total minimum lease payments	13,637
Less: imputed interest	(3,864)
Present value of operating lease obligations	9,773
Less: current portion	(858)
Noncurrent operating lease obligations	$ 8,915

Lessee operating lease liability payments due after year four.

No definition available.

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Amount of lessee's undiscounted obligation for lease payment for operating lease.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 842
-SubTopic 20
-Name Accounting Standards Codification
-Section 50
-Paragraph 6
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147478964/842-20-50-6

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- Definition

Amount of lessee's undiscounted obligation for lease payment for operating lease to be paid in next fiscal year following current fiscal year. Excludes interim and annual periods when interim periods are reported from current statement of financial position date (rolling approach).

+ References

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- Definition

Amount of lessee's undiscounted obligation for lease payment for operating lease to be paid in fourth fiscal year following current fiscal year. Excludes interim and annual periods when interim periods are reported from current statement of financial position date (rolling approach).

+ References

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- Definition

Amount of lessee's undiscounted obligation for lease payment for operating lease to be paid in third fiscal year following current fiscal year. Excludes interim and annual periods when interim periods are reported from current statement of financial position date (rolling approach).

+ References

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- Definition

Amount of lessee's undiscounted obligation for lease payment for operating lease to be paid in second fiscal year following current fiscal year. Excludes interim and annual periods when interim periods are reported from current statement of financial position date (rolling approach).

+ References

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- Definition

Amount of lessee's undiscounted obligation for lease payments in excess of discounted obligation for lease payments for operating lease.

+ References

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- Definition

Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 460
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 3
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482425/460-10-50-3

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-URI https://asc.fasb.org//1943274/2147483076/450-20-50-1

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Present value of lessee's discounted obligation for lease payments from operating lease.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 842
-SubTopic 20
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-Section 45
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Present value of lessee's discounted obligation for lease payments from operating lease, classified as current.

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Present value of lessee's discounted obligation for lease payments from operating lease, classified as noncurrent.

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