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Balance Sheet Components - Prepaid and Other Current Assets (Details) - USD ($)
$ in Thousands
Sep. 30, 2023
Dec. 31, 2022
Prepaid and Other Current Assets    
Interest receivable $ 39 $ 45
Prepaid research and development manufacturing expenses 149 192
Prepaid facility expenses 196 182
Prepaid insurance 317 252
Other 214 102
Total of prepaid and other current assets $ 915 $ 773