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Research and Development (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022
Research and Development Arrangement, Contract to Perform for Others [Line Items] |  |  |  |
Research and development arrangement, receivable recognized | $ 43 | $ 0 | $ 1,943 | $ 1,838
Upfront Payment |  |  |  |
Research and Development Arrangement, Contract to Perform for Others [Line Items] |  |  |  |
Research and development arrangement, receivable | 5,800 |  | 5,800 |
First Additional Payment |  |  |  |
Research and Development Arrangement, Contract to Perform for Others [Line Items] |  |  |  |
Research and development arrangement, receivable | 2,500 |  | 2,500 |
Second Additional Payment |  |  |  |
Research and Development Arrangement, Contract to Perform for Others [Line Items] |  |  |  |
Research and development arrangement, receivable | 1,900 |  | 1,900 |
Third Additional Payment |  |  |  |
Research and Development Arrangement, Contract to Perform for Others [Line Items] |  |  |  |
Research and development arrangement, receivable | $ 1,300 |  | $ 1,300 |

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