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Accrued Expenses and Other Current Liabilities - Schedule of Accrued Expenses and Other Current Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Payables and Accruals [Abstract]    
Payroll and benefits $ 10,498 $ 5,935
Consulting services 423 776
Legal services 397 410
Research and development 12,121 11,097
Facility costs 0 1
Total $ 23,439 $ 18,219