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Moore-Gilbert, a professor of Islamic studies at the University of Melbourne, was arrested in Tehran in September 2018 after an academic conference.
She was later sentenced to 10 years in prison in a secret spy trial.
Both Moore Gilbert and the Australian government denied the allegations.
The academy, who was traveling on her Australian passport, was initially in the famous Evin prison, and Moore Gilbert again claimed in letters smuggled from the prison that she “was never a spy.”
Moore-Gilbert issued a statement Thursday acknowledging the “injustice” he faced and thanking all who lobbied for his release.
He added: “I came to Iran as a friend and with friendly intentions, and I left Iran with these feelings.”
Australian Prime Minister Scott Morrison declined to confirm reports that the Academy’s release was part of a prisoner swap.
“The Australian government does not endorse or confirm any such agreement regarding the release of anyone elsewhere,” Morrison told reporters via video link in Canberra.
He said that “these arrangements are difficult to implement” and explained that the government treats them “with a lot of secrecy.”