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Supplemental Balance Sheet Information - Accrued Expense and Other Current Liabilities (Details) - USD ($)
$ in Thousands
Sep. 30, 2021
Dec. 31, 2020
Supplemental Balance Sheet Information [Abstract]    
Accrued clinical, contract research and manufacturing costs $ 2,741 $ 1,372
Accrued payroll-related expenses 1,388 1,158
Lease liability, current 440 223
Accrued other expenses 911 772
Accrued expenses and other current liabilities $ 5,480 $ 3,525