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Supplemental Balance Sheet Information - Schedule of Accrued Expenses and Other Current Liabilities Current (Details) - USD ($)
$ in Thousands
Dec. 31, 2021
Dec. 31, 2020
Payables And Accruals [Abstract]    
Payroll and employee-related costs $ 3,688 $ 2,652
Research and development costs 5,533 2,695
Other 666 793
Total accrued expenses and other current liabilities $ 9,887 $ 6,140