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Income Taxes - Reconciliation of the Federal Statutory Income Tax Rate to the Effective Tax Rate (Details)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Income Tax Disclosure [Abstract]    
Taxes at U.S. statutory rate 21.00% 21.00%
Changes from statutory rate:    
State taxes, net of federal benefit 8.50% 8.30%
Tax credits 5.40% 5.10%
Share-based compensation (0.70%) (0.90%)
Change in valuation allowance (34.10%) (33.80%)
Other (0.10%) 0.30%
Effective income tax rate 0.00% 0.00%