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Accrued Expenses and Other Current Liabilities - Schedule of Accrued Expenses and Other Current Liabilities (Details) - USD ($)
$ in Thousands
Jun. 30, 2023
Dec. 31, 2022
Payables and Accruals [Abstract]    
Accrued compensation and benefits $ 3,845 $ 5,616
Accrued research and development expense 16,592 15,078
Accrued professional services 941 680
Other 250 271
Total accrued expenses and other current liabilities $ 21,628 $ 21,645