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Prepaid Expenses and Other Current Assets - Schedule of Prepaid Expenses and Other Current Assets (Details) - USD ($) $ in Thousands	Sep. 30, 2021	Dec. 31, 2020
Prepaid Expense And Other Assets Current [Abstract]
Clinical trial expenses	$ 1,630	$ 1,497
Insurance premiums	154	845
Royalty receivable	124
Other	87	328
Total prepaid expenses and other current assets	$ 1,995	$ 2,670

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