Commitments and Contingencies - Future Minimum Rental Payments under Operating Leases with Noncancelable Terms (Details) - USD ($) $ in Thousands	Jun. 30, 2024	Dec. 31, 2023
Loss Contingencies [Line Items]
Less: current portion	$ (939)	$ (952)
Noncurrent operating lease obligations	8,663	$ 9,160
Brisbane, California and Ann Arbor Michigan
Loss Contingencies [Line Items]
2024 (excluding six months ended June 30, 2024)	898
2025	1,861
2026	1,926
2027	1,994
2028 and beyond	6,410
Total minimum lease payments	13,089
Less: imputed interest	(3,487)
Present value of operating lease obligations	9,602
Less: current portion	(939)
Noncurrent operating lease obligations	$ 8,663

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
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-Name Accounting Standards Codification
-Section 50
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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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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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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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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).

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

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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.

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

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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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