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Supplementary Balance Sheet Information - Accrued Liabilities (Details) - USD ($)
$ in Thousands
Sep. 30, 2023
Dec. 31, 2022
Balance Sheet Related Disclosures [Abstract]    
Compensation related accruals $ 3,263 $ 4,671
Accrued clinical trial expense 1,304 1,232
Other expenses 2,379 2,315
Total accrued liabilities $ 6,946 $ 8,218