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Prepaid Expenses and Other Current Assets - Schedule of Prepaid Expenses and Other Current Assets (Details) - USD ($) $ in Thousands | Jun. 30, 2023 | Dec. 31, 2022
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Prepaid Expense and Other Assets, Current [Abstract] |  |
Research and development tax credit receivable | $ 1,953 | $ 4,664
Prepayments and VAT receivable | 991 | 976
Other current assets | 2,186 | 426
Prepaid expenses and other current assets | 5,130 | $ 6,066
Clinical trial deposits, current | $ 1,500 |

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