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Commitments, Contingencies and Collaboration and License Agreements - Operating Lease Payments (Details) - USD ($)
$ in Thousands
Sep. 30, 2023
Dec. 31, 2022
Commitments and Contingencies Disclosure [Abstract]    
2023 (remaining 3 months) $ 506  
2024 2,070  
2025 2,132  
2026 2,196  
2027 2,261  
Thereafter 3,414  
Total minimum lease payments 12,579  
Less: amount representing interest (2,855)  
Total operating lease liabilities 9,724  
Less: current portion of lease liabilities (1,266) $ (1,144)
Operating lease liabilities, net of current portion $ 8,458 $ 9,425
Weighted-average discount rate 8.60%  
Weighted-average remaining term 6 years