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Balance Sheet Components - Schedule of Accrued Expenses and Other Current Liabilities (Details) - USD ($)
$ in Thousands
Jun. 30, 2024
Dec. 31, 2023
Balance Sheet Related Disclosures [Abstract]    
Accrued research and development expenses $ 7,864 $ 10,832
Accrued compensation and benefits 1,736 3,101
Accrued general and administrative expenses 816 416
Lease liabilities, current portion 267 251
Total accrued expenses and other current liabilities $ 10,683 $ 14,600