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Balance Sheet Details - Schedule of Accounts Payable (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022
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Organization, Consolidation and Presentation of Financial Statements [Abstract] |  |
Clinical and related costs | $ 4,726 | $ 3,749
Legal and audit costs | 160 | 288
Other | 213 | 244
Total | $ 5,099 | $ 4,281

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