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Consolidated Financial Statement Details - Schedule of Accrued Expenses (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Inventory Disclosure [Abstract]    
Accrued compensation $ 5,553 $ 9,582
Accrued clinical trial expenses 4,321 12,262
Liability to collaboration partners 2,678 3,808
Accrued contract termination costs 3,020 3,902
Other accrued expenses 6,590 7,003
Total accrued expenses $ 22,162 $ 36,557