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Accrued Expenses and Other Liabilities - Schedule of Accrued Expenses and Other Liabilities (Details) - USD ($)
$ in Thousands
Sep. 30, 2023
Dec. 31, 2022
Payables and Accruals [Abstract]    
Accrued research and development expenses $ 8,198 $ 9,447
Accrued compensation and benefits 6,660 5,953
Accrued professional fees 648 1,052
Accrued other 205 2,263
Total accrued expenses and other liabilities $ 15,711 $ 18,715