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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