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Balance Sheet Components - Schedule of Other Accrued Liabilities (Details) - USD ($) $ in Thousands | Sep. 30, 2023 | Dec. 31, 2022
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Balance Sheet Related Disclosures [Abstract] |  |
Accrued contract manufacturing expenses | $ 5,645 | $ 8,382
Accrued clinical expenses | 712 | 692
Accrued research expenses | 211 | 349
Accrued professional services | 9,796 | 3,977
Current portion of lease liabilities | 1,211 | 1,316
Current portion of deferred royalty obligation | 3,976 | 2,639
Accrued license fees and royalties | 730 | 943
Other | 2,418 | 2,909
Total other accrued liabilities | $ 24,699 | $ 21,207

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