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Accrued and Other Current Liabilities - Summary of Accrued and Other Current Liabilities (Details) - USD ($) $ in Thousands | Jun. 30, 2022 | Dec. 31, 2021
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Payables and Accruals [Abstract] |  |
Accrued compensation | $ 3,003 | $ 4,020
Accrued CMO costs | 2,967 | 1,077
Accrued professional services | 2,308 | 546
Accrued other research and development expenses | 678 | 504
Accrued other liabilities | 83 | 503
Accrued CRO costs | 952 | 32
Total accrued and other liabilities | $ 9,991 | $ 6,682

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