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Balance Sheet Components - Schedule of Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands | Dec. 31, 2022 | Dec. 31, 2021
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Balance Sheet Related Disclosures [Abstract] |  |
Compensation expense | $ 8,710 | $ 9,209
Accrued professional fees | 532 | 550
Accrued nonclinical costs | 1,162 | 2,895
Accrued clinical and process development costs | 5,692 | 2,058
State taxes payable | 254 | 1,318
Other | 417 | 2,017
Total accrued expenses and other current liabilities | $ 16,767 | $ 18,047

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