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Balance Sheet Components - Schedule of Accrued Expenses (Details) - USD ($)
$ in Thousands
Sep. 30, 2022
Dec. 31, 2021
Payables And Accruals [Abstract]    
Accrued research and development expenses $ 9,621 $ 6,195
Accrued employee and related expenses 2,811 3,168
Accrued professional and legal fees 696 495
Accrued other expenses 309 336
Total accrued expenses $ 13,437 $ 10,194