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Prepaid Expenses and Other Current Assets - Schedule of Prepaid Expenses and Other Current Assets (Details) - USD ($) $ in Thousands | Mar. 31, 2022 | Dec. 31, 2021
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Prepaid Expense and Other Assets, Current [Abstract] |  |
Prepaid insurance | $ 1,919 | $ 2,734
Prepaid research and development expenses | 4,155 | 1,754
Prepaid license agreements | 73 | 64
Other | 131 | 66
Prepaid expenses and other current assets | $ 6,278 | $ 4,618

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