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Balance Sheet Details - Schedule of Accrued Liabilities (Details) - USD ($)
$ in Thousands
Sep. 30, 2023
Dec. 31, 2022
Payables and Accruals [Abstract]    
Accrued compensation $ 2,391 $ 2,671
Accrued research and development 3,831 4,716
Other accrued liabilities 609 623
Accrued liabilities $ 6,831 $ 8,010