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Balance Sheet Components - Accrued and Other Liabilities (Details) - USD ($)
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Accrued and Other Liabilities          
Accrued clinical trial expense $ 2,603,000   $ 2,603,000   $ 2,934,000
Accrued manufacturing expense 592,000   592,000   3,254,000
Personnel related 751,000   751,000   1,113,000
Accrued legal and accounting 351,000   351,000   89,000
Other 262,000   262,000   158,000
Total of accrued and other liabilities 4,559,000   4,559,000   $ 7,548,000
Depreciation expense $ 30,000 $ 94,000 $ 123,000 $ 273,000