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Stockholders' Equity - Summary of Total Non-cash Stock-based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended
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Mar. 31, 2023 | Mar. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Total non-cash stock-based compensation expense | $ 1,038 | $ 1,298
Research and Development Expense |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Total non-cash stock-based compensation expense | 628 | 544
General and Administrative Expense |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Total non-cash stock-based compensation expense | $ 410 | $ 754

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