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Accrued Expenses - Summary of Accrued Expenses (Details) - USD ($) $ in Thousands | Dec. 31, 2021 | Dec. 31, 2020
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Payables And Accruals [Abstract] |  |
Accrued compensation | $ 3,797 | $ 3,109
Accrued research and development costs | 4,734 | 1,595
Other accrued liabilities | 96 | 99
Total | $ 8,627 | $ 4,803

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