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Balance Sheet Components - Summary of Prepaid Expenses and Other Current Assets (Detail) - USD ($) $ in Thousands | Jun. 30, 2023 | Dec. 31, 2022
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Prepaid Expense and Other Assets, Current [Abstract] |  |
Prepaid research and development costs | $ 3,291 | $ 3,805
Prepaid insurance | 269 | 755
Other prepaid expenses | 896 | 678
Other current assets | 167 | 203
Total prepaid expenses and other current assets | $ 4,623 | $ 5,441

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