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Balance Sheet Components - Accrued Expenses and Other Current Liabilities (Details) - USD ($)
$ in Thousands
Jun. 30, 2023
Dec. 31, 2022
Accrued Expense and Other Current Liabilities    
Accrued employee compensation and benefits $ 9,227 $ 14,603
Accrued clinical trial costs 18,539 17,788
Other accrued expenses and other current liabilities 7,627 11,715
 Accrued expenses and other current liabilities $ 35,393 $ 44,106