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Stock Based Compensation Plan - Schedule of Stock-Based Compensation Expenses (Details) - USD ($) $ in Thousands | 3 Months Ended
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Mar. 31, 2023 | Mar. 31, 2022
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |
General and administrative | $ 5,299 | $ 5,122
Total stock-based compensation expense | 1,129 | 916
Research and Development Expense |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |
Research and development | 343 | 333
General and Administrative Expense |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |
General and administrative | $ 786 | $ 583

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