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Balance Sheet Details - Summary of Accrued Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2021
Dec. 31, 2020
Accrued Liabilities Current [Abstract]    
Accrued personnel costs $ 2,152 $ 565
Accrued research and development costs 516 266
Current portion of operating lease liability, related party $ 489  
Operating Lease, Liability, Current, Statement of Financial Position [Extensible Enumeration] Operating Lease, Right-of-Use Asset  
Accrued other $ 506 100
Total $ 3,663 $ 931