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Summary of Significant Accounting Policies - Property and Equipment (Details) - USD ($) $ in Thousands | 1 Months Ended | 12 Months Ended |
--- | --- | --- | ---
Aug. 31, 2018 | Dec. 31, 2022 | Dec. 31, 2021
Property, Plant and Equipment [Line Items] |  |  |
Estimated useful life of assets | 10 years |  |
Accrued research and development services current |  | $ 3,252 | $ 3,669
Accrued compensation and benefits current |  | 7,830 | 5,711
Operating Lease, Liability, Current |  | 1,291 | 1,089
Other Accrued Liabilities, Current |  | 404 | 2,503
Accrued Liabilities |  | $ 12,777 | $ 12,972
Minimum |  |  |
Property, Plant and Equipment [Line Items] |  |  |
Estimated useful life of assets |  | 3 years |
Maximum |  |  |
Property, Plant and Equipment [Line Items] |  |  |
Estimated useful life of assets |  | 40 years |

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