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Consolidated Balance Sheet Components - Schedule of Prepaid and Other Current Assets (Details) - USD ($) $ in Thousands | Dec. 31, 2022 | Dec. 31, 2021
--- | --- | ---
Prepaid Expense and Other Assets, Current [Abstract] |  |
Prepaid research and development | $ 5,727 | $ 7,895
Prepaid taxes | 646 | 836
Prepaid other | 1,547 | 2,506
Total prepaid and other current assets | $ 7,920 | $ 11,237

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