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Stockholders' Equity - Summary of Stock-Based Compensation (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
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Jun. 30, 2022 | Jun. 30, 2021 | Jun. 30, 2022 | Jun. 30, 2021
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation | $ 2,586 | $ 2,417 | $ 5,098 | $ 4,210
Research and Development |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation | 1,014 | 758 | 1,898 | 1,397
General and Administrative |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation | $ 1,572 | $ 1,659 | $ 3,200 | $ 2,813

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