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Balance Sheet Components - Prepaid Expenses and Other Current Assets (Details) - USD ($)
$ in Thousands
Jun. 30, 2022
Dec. 31, 2021
Prepaid Expense and Other Assets, Current [Abstract]    
Prepaid clinical and research related expenses $ 6,387 $ 5,242
Prepaid insurance 876 1,746
Other prepaid expenses 1,786 1,515
Other receivable 672 975
Prepaid expenses and other current assets $ 9,721 $ 9,478