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Property and Equipment, Net - Balances (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Property, Plant and Equipment [Line Items]
Property and equipment, gross	$ 18,253	$ 16,386
Less: accumulated depreciation	(15,891)	(14,450)
Total property and equipment, net	2,362	1,936
Laboratory equipment
Property, Plant and Equipment [Line Items]
Property and equipment, gross	7,474	7,268
Office equipment and furniture
Property, Plant and Equipment [Line Items]
Property and equipment, gross	2,034	1,133
Leasehold improvements
Property, Plant and Equipment [Line Items]
Property and equipment, gross	$ 8,745	$ 7,985

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Amount of accumulated depreciation, depletion and amortization for physical assets used in the normal conduct of business to produce goods and services.

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