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Supplementary Balance Sheet Information - Accrued Expenses (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Organization, Consolidation and Presentation of Financial Statements [Abstract]    
Accrued compensation $ 2,737 $ 1,849
Clinical trials 4,309 2,333
Research agreements and services 530 509
Other accrued liabilities 207 486
Total accrued liabilities $ 7,783 $ 5,177