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Commitments and Contingencies - Master Services Agreement (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Oct. 05, 2020
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]      
Lease liabilities $ 1,234 $ 1,208  
Master Services Agreement With Integrium LLC, 2020      
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]      
Lease liabilities $ 1,800 $ 1,900  
Master Services Agreement With Integrium LLC, 2020 | Maximum      
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]      
Consideration payable on achievement of milestones     $ 12,400