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Stockholder's Equity - Schedule of Total Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total share-based compensation expense	$ 1,879	$ 1,955	$ 3,879	$ 3,855
Research and Development
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total share-based compensation expense	984	1,069	2,056	2,066
General and Administrative
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total share-based compensation expense	$ 895	$ 886	$ 1,823	$ 1,789

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- Definition

Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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