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Accrued Expenses - Summary of Accrued Expenses (Details) - USD ($)
$ in Thousands
Jun. 30, 2023
Dec. 31, 2022
Payables and Accruals [Abstract]    
Accrued compensation $ 2,717 $ 2,897
Accrued legal and professional services 357 152
Accrued research and development costs 4,866 4,259
Total $ 7,940 $ 7,308