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Accrued Liabilities - Schedule of Accrued Liabilities (Details) - USD ($)
$ in Thousands
Mar. 31, 2023
Dec. 31, 2022
Balance Sheet Related Disclosures [Abstract]    
Accrued research and development materials and services $ 19,144 $ 20,747
Accrued professional services 2,728 1,759
Accrued compensation 7,402 10,920
Other 363 195
Total accrued liabilities $ 29,637 $ 33,621