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Certain Balance Sheet Accounts - Summary of Prepaid Expenses and Other Current Assets (Details) - USD ($) $ in Thousands | Sep. 30, 2023 | Dec. 31, 2022
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Balance Sheet Related Disclosures [Abstract] |  |
Recoverable research and development tax credits | $ 1,922 | $ 6,492
Prepaid research and development expenses and deposits | 1,285 | 2,549
Prepaid expenses | 1,193 | 1,330
Other current assets | 601 | 456
Total prepaid expenses and other current assets | $ 5,001 | $ 10,827

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