Balance Sheet Components - Schedule of Prepaid Expenses and Other Current Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Prepaid Expense and Other Assets, Current [Abstract]
Prepaid expenses	$ 503	$ 1,866
Prepaid clinical and research expenses		168
Interest and other receivables	39	21
Other current assets		1,353
Total prepaid expenses and other current assets	$ 542	$ 3,408