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Balance Sheet Components - Schedule of Accrued Expenses (Details) - USD ($)
$ in Thousands
Jun. 30, 2022
Dec. 31, 2021
Payables And Accruals [Abstract]    
Accrued research and development expenses $ 10,827 $ 6,195
Accrued employee and related expenses 2,208 3,168
Accrued professional and legal fees 1,178 495
Accrued other expenses 175 336
Total accrued expenses $ 14,388 $ 10,194