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Balance Sheet Details - Schedule of Prepaid Expenses and Other Current Assets (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022
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Organization, Consolidation and Presentation of Financial Statements [Abstract] |  |
Prepaid clinical and related costs | $ 2,314 | $ 5,608
VAT receivable | 703 | 296
Australian research and development tax incentive | 670 | 2,361
Research grant | 1,104 | 0
Other | 1,069 | 1,225
Total | $ 5,860 | $ 9,490

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