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Leases - Right-of-Use Asset Depreciation (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Disclosure of quantitative information about right-of-use assets [line items]        
Depreciation, right-of-use assets $ 443 $ 290 $ 1,289 $ 896
R&D expense        
Disclosure of quantitative information about right-of-use assets [line items]        
Depreciation, right-of-use assets 388 228 1,111 711
G&A expense        
Disclosure of quantitative information about right-of-use assets [line items]        
Depreciation, right-of-use assets $ 55 $ 62 $ 178 $ 185