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Composition of Certain Balance Sheet Components - Summary of Prepaid Expenses and Other Current Assets (Details) - USD ($)
$ in Thousands
Dec. 31, 2022
Dec. 31, 2021
Balance Sheet Related Disclosures [Abstract]    
Contract research services $ 2,465 $ 2,739
Prepaid insurance 1,507 2,355
Prepaid rent 492 354
Other 2,518 2,100
Total prepaid expenses and other current assets $ 6,982 $ 7,548