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Leases - Additional Information (Details)
$ in Millions
12 Months Ended
Dec. 31, 2023
USD ($)
ft²
SubleaseAgreement
Lessee, Lease, Description [Line Items]  
Leases, term of contract 7 years
Lessee, Operating Lease, Existence of Option to Extend [true false] true
Lease renewal term 3 years
Number of sublease agreements | SubleaseAgreement 2
Area subleased 2,300
San Mateo, California  
Lessee, Lease, Description [Line Items]  
Lease space 31,117
Lease expiration date Nov. 30, 2024
San Carlos, California  
Lessee, Lease, Description [Line Items]  
Lease space 99,557
Letter of Credit  
Lessee, Lease, Description [Line Items]  
Letter of credit | $ $ 0.6