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Stock-Based Compensation - Schedule of Total Compensation Expense (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Total share-based compensation expense $ 7,525 $ 5,177
Research and Development    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Total share-based compensation expense 3,974 2,427
General and Administrative    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Total share-based compensation expense $ 3,551 $ 2,750