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Accrued and Other Current Liabilities - Summary of Accrued and Other Current Liabilities (Details) - USD ($) $ in Thousands | Mar. 31, 2023 | Dec. 31, 2022
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Payables and Accruals [Abstract] |  |
Accrued compensation | $ 3,755 | $ 5,703
Accrued CMO costs | 5,136 | 4,390
Accrued professional services | 1,197 | 1,356
Accrued other research and development expenses | 519 | 674
Accrued CRO costs | 1,720 | 657
Accrued other liabilities | 72 | 31
Total accrued and other liabilities | $ 12,399 | $ 12,811

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