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Balance Sheet Components - Prepaid Expenses and Other Current Assets (Details) - USD ($)
$ in Thousands
Dec. 31, 2021
Dec. 31, 2020
Prepaid Expense and Other Assets, Current [Abstract]    
Prepaid clinical and research related expenses $ 5,242 $ 3,517
Prepaid insurance 1,746 1,440
Other prepaid expenses 1,515 1,009
Other receivable 975 311
Prepaid expenses and other current assets $ 9,478 $ 6,277