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Other Balance Sheet Accounts - Summary of accrued expenses (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Organization, Consolidation and Presentation of Financial Statements [Abstract]    
Accrued salaries and other payroll liabilities $ 15,950 $ 4,935
Accrued professional services 605 678
Accrued equipment and services liabilities for research and development 112 489
Accrued expenses—other 1,709 553
Total accrued expenses $ 18,376 $ 6,655