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Balance Sheet Components - Prepaid Expenses and Other Current Assets (Details) - USD ($)
$ in Thousands
Sep. 30, 2022
Dec. 31, 2021
Prepaid Expense and Other Assets, Current [Abstract]    
Prepaid clinical and research related expenses $ 6,498 $ 5,242
Prepaid insurance 436 1,746
Other prepaid expenses 1,626 1,515
Other receivable 495 975
Prepaid expenses and other current assets $ 9,055 $ 9,478