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Accrued and Other Current Liabilities - Summary of Accrued and Other Current Liabilities (Details) - USD ($) $ in Thousands | Sep. 30, 2021 | Dec. 31, 2020
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Payables And Accruals [Abstract] |  |
Accrued compensation | $ 3,316 | $ 3,833
Accrued CRO costs | 490 | 955
Accrued CMO costs | 165 | 244
Accrued research and development expenses | 294 | 65
Accrued professional services | 301 | 363
Accrued other liabilities | 35 | 272
Total accrued and other liabilities | $ 4,601 | $ 5,732

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