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Accrued and Other Current Liabilities - Summary of Accrued and Other Current Liabilities (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022
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Payables and Accruals [Abstract] |  |
Accrued compensation | $ 6,514 | $ 5,703
Accrued CDMO costs | 5,679 | 4,390
Accrued professional services | 625 | 1,356
Accrued research and development expenses | 354 | 674
Accrued CRO costs | 257 | 657
Accrued other liabilities | 12 | 31
Total | $ 13,441 | $ 12,811

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