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Balance Sheet Components - Schedule of Prepaid and Other Current Assets (Details) - USD ($)
$ in Thousands
Mar. 31, 2024
Dec. 31, 2023
Organization, Consolidation and Presentation of Financial Statements [Abstract]    
Prepaid research and development contract services $ 1,045 $ 1,883
Advanced professional fees 276 300
Prepaid insurance 178 376
Other prepaid expenses and other current assets 113 173
Prepaid expenses and other current assets $ 1,612 $ 2,732