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Balance Sheet Components - Schedule of Prepaid Expenses and Other Current Assets (Details) - USD ($)
$ in Thousands
Jun. 30, 2022
Dec. 31, 2021
Organization, Consolidation and Presentation of Financial Statements [Abstract]    
Research and development expenses $ 6,116 $ 11,224
Insurance related expenses 6,279 4,661
Value added tax receivable 2,856 1,422
Other 1,144 993
Prepaid expenses and other current assets $ 16,395 $ 18,300