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Stockholders' Equity - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Jun. 01, 2023
May 16, 2023
Dec. 31, 2023
Dec. 31, 2022
Class of Stock [Line Items]        
Issuance of common stock, net of offering cost/ ESPP plan     $ 42,414 $ 193
Net proceeds from common stock and warrants after deducting underwriting discounts, commissions and other offering expenses $ 134,700      
Proceeds from issuance of pre-funded warrants, net of offering costs 92,300   92,318  
Proceeds from issuance of common stock, net of offering costs $ 42,400   $ 42,414  
Voting Common Stock        
Class of Stock [Line Items]        
Common stock, par value     $ 0.0001 $ 0.0001
Voting Common Stock | Common Stock        
Class of Stock [Line Items]        
Number of shares issued     23,287,134 146,380
Issuance of common stock, net of offering cost/ ESPP plan     $ 2  
Voting Common Stock | Public Offering        
Class of Stock [Line Items]        
Sale of stock price per share $ 2      
Voting Common Stock | Follow On Offering        
Class of Stock [Line Items]        
Number of shares issued 23,287,134      
Voting Common Stock | ATM Program | Wedbush Securities, Inc.        
Class of Stock [Line Items]        
Issuance of common stock, net of offering cost/ ESPP plan   $ 75,000    
Common stock, par value   $ 0.0001    
Non-voting Common Stock        
Class of Stock [Line Items]        
Common stock, par value     $ 0.0001 $ 0.0001
Pre-Funded Warrants [Member]        
Class of Stock [Line Items]        
Common stock issuable upon exercise warrants     47,010,526  
Warrants exercised     0  
Warrant exercise price $ 0.0001      
Pre-Funded Warrants [Member] | Voting Common Stock        
Class of Stock [Line Items]        
Common stock issuable upon exercise warrants 47,010,526      
Common stock price per warrant $ 1.9999      
Warrant exercise price $ 0.0001