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Balance Sheet Components - Schedule of Accrued Expenses and Other Current Liabilities (Details) - USD ($)
$ in Thousands
Sep. 30, 2023
Dec. 31, 2022
Balance Sheet Related Disclosures [Abstract]    
Employee compensation $ 7,281 $ 8,710
Accrued nonclinical, clinical and process development costs 6,728 6,854
Accrued professional services 588 532
State income tax payable 102 254
Other 1,663 417
Total accrued expenses and other current liabilities $ 16,362 $ 16,767