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Prepaid Expenses and Other Current Assets - Summary of Prepaid Expenses and Other Current Assets (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022
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Prepaid Expense and Other Assets, Current [Abstract] |  |
Prepaid insurance | $ 1,014 | $ 1,251
Prepaid software subscription and licensing fees | 582 | 529
Prepaid maintenance | 373 | 295
Prepayments to CROs and CDMOs | 53 | 492
Prepaid professional services | 82 | 44
Interest receivable | 0 | 435
Other prepaid expenses and current assets | 457 | 336
Total prepaid expenses and other current assets | $ 2,561 | $ 3,382

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