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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
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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