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Stock Based Compensation Plan - Schedule of Stock-Based Compensation Expenses (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
General and administrative | $ 3,572 | $ 4,981 | $ 12,209 | $ 14,594
Total stock-based compensation expense | 913 | 1,077 | 3,200 | 2,972
Research and Development Expense |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Research and development | 215 | 359 | 882 | 1,047
General and Administrative Expense |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
General and administrative | $ 698 | $ 718 | $ 2,318 | $ 1,925

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