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Balance Sheet Components - Schedule of Accrued Expenses and Other Current Liabilities (Details) - USD ($)
$ in Thousands
Mar. 31, 2023
Dec. 31, 2022
Balance Sheet Related Disclosures [Abstract]    
Accrued research and development expenses $ 6,969 $ 7,449
Accrued compensation and benefits 998 1,286
Accrued general and administrative expenses 524 525
Lease liabilities, current portion 229 139
Total accrued expenses and other current liabilities $ 8,720 $ 9,399