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Balance Sheet Components - Accrued and Other Liabilities (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Accrued and Other Liabilities      
Accrued clinical trial expense $ 2,934 $ 4,010  
Accrued manufacturing expense 3,254 839  
Personnel related 1,113 1,846  
Accrued legal and accounting 89 265  
Other 158 121  
Total of accrued and other liabilities 7,548 7,081  
Depreciation expense $ 400 $ 500 $ 600