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Accrued Expenses and Other Current Liabilities - Summary of Accrued Expenses and Other Current Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Payables and Accruals [Abstract]    
Compensation and related benefits $ 9,157 $ 5,682
Research and development 5,666 6,887
Other 945 524
Accrued expenses and other current liabilities $ 15,768 $ 13,093