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Balance Sheet Details - Accrued Liabilities (Details) - USD ($)
$ in Thousands
Sep. 30, 2020
Dec. 31, 2019
Payables And Accruals [Abstract]    
Research and development $ 1,705 $ 1,206
Legal fees 203 424
Unvested share liability 14 24
Compensation 1,262 825
Other 89 252
Total accrued liabilities $ 3,273 $ 2,731