Positive allosteric modulators of the muscarinic acetylcholine receptor M1

1. A compound of formula (I-a),

or a pharmaceutically acceptable salt thereof, wherein

A 1 is Cyc 2 -Cyc 3 or Cyc 1 ;

Cyc 1 is a 6-membered heteroaryl;

Cyc 2 is a 6-membered aromatic ring optionally containing one nitrogen atom;

Cyc 3 is a 5-membered heteroaryl;

wherein Cyc 1 , Cyc 2 , and Cyc 3 are each independently optionally substituted with 1-5 substituents independently selected from the group consisting of halogen, C 1-4 alkyl, C 1-4 haloalkyl, —OC 1-4 alkyl, —OC 1-4 haloalkyl, —OC 3-6 cycloalkyl, —O—C 1-3 alkylene-C 3-6 cycloalkyl, OH, oxo, cyano, C 3-6 cycloalkyl, and —C 1-3 alkylene-C 3-6 cycloalkyl, wherein each cycloalkyl is optionally substituted with 1-4 substituents independently selected from the group consisting of halogen and C 1-4 alkyl;

A 2 is G 1 ;

G 1 is a 4- to 12-membered saturated alicyclic ring system optionally having one carbon ring atom replaced by oxygen, wherein G 1 is optionally substituted with 1-4 substituents independently selected from the group consisting of OH, C 1-4 alkyl, C 1-4 haloalkyl, —OC 1-4 alkyl, cyano, oxo, and C 3-6 cycloalkyl;

R 1 is hydrogen;

R 2 is hydrogen; and

R 3 is C 1-4 alkyl or hydrogen.

2. The compound of claim 1 , or a pharmaceutically acceptable salt thereof, wherein

A 1 is Cyc 2 -Cyc 3 , wherein Cyc 2 and Cyc 3 are each independently optionally substituted as defined in claim 1 .

3. The compound of claim 2 , or a pharmaceutically acceptable salt thereof, wherein

Cyc 2 is

 wherein Cyc 2 -Cyc 3 is

R 6 , at each occurrence, is independently selected from the group consisting of halogen, C 1-4 alkyl, C 1-4 haloalkyl, —OC 1-4 alkyl, —OC 1-4 haloalkyl, OH, cyano, C 3-6 cycloalkyl, and —C 1-3 alkylene-C 3-6 cycloalkyl; and

n is 0, 1, 2, 3, or 4.

4. The compound of claim 3 , or a pharmaceutically acceptable salt thereof, wherein n is 0, 1, or 2.

5. The compound of claim 4 , or a pharmaceutically acceptable salt thereof, wherein

Cyc 3 is a 5-membered monocyclic heteroaryl containing 1-3 heteroatoms independently selected from the group consisting of O, N, and S, and optionally substituted with 1-5 substituents independently selected from the group consisting of halogen, C 1-4 alkyl, C 1-4 haloalkyl, —OC 1-4 alkyl, —OC 1-4 haloalkyl, —OC 3-6 cycloalkyl, —O—C 1-3 alkylene-C 3-6 cycloalkyl, OH, oxo, cyano, C 3-6 cycloalkyl, and —C 1-3 alkylene-C 3-6 cycloalkyl, wherein each cycloalkyl is optionally substituted with 1-4 substituents independently selected from the group consisting of halogen and C 1-4 alkyl.

6. The compound of claim 5 , or a pharmaceutically acceptable salt thereof, wherein

Cyc 3 is pyrazolyl or oxazolyl and Cyc 3 is optionally substituted as defined in claim 5 .

7. The compound of claim 6 , or a pharmaceutically acceptable salt thereof, wherein

Cyc 3 is optionally substituted with C 1-4 alkyl.

8. The compound of claim 7 , or a pharmaceutically acceptable salt thereof, wherein

Cyc 3 is

9. The compound of claim 1 , or a pharmaceutically acceptable salt thereof, wherein

G 1 is a monocyclic C 3-8 cycloalkyl, a monocyclic 4- to 8-membered heterocycle containing one oxygen atom, or a 7- to 12-membered spirocyclic heterocycle containing one oxygen atom, wherein G 1 is optionally substituted with 1-2 substituents independently selected from the group consisting of OH and C 1-4 alkyl.

10. The compound of claim 9 , or a pharmaceutically acceptable salt thereof, wherein

G 1 is

11. A compound of formula (I-b), or a pharmaceutically acceptable salt thereof,

wherein:

A 1 is Cyc 2 -Cyc 3 or Cyc 1 ;

Cyc 1 is a 6-membered heteroaryl;

Cyc 2 is a 6-membered aromatic ring optionally containing one nitrogen atom;

Cyc 3 is a 5-membered heteroaryl;

wherein Cyc 1 , Cyc 2 , and Cyc 3 are each independently optionally substituted with 1-5 substituents independently selected from the group consisting of halogen, C 1-4 alkyl, C 1-4 haloalkyl, —OC 1-4 alkyl, —OC 1-4 haloalkyl, —OC 3-6 cycloalkyl, —O—C 1-3 alkylene-C 3-6 cycloalkyl, OH, oxo, cyano, C 3-6 cycloalkyl, and —C 1-3 alkylene-C 3-6 cycloalkyl, wherein each cycloalkyl is optionally substituted with 1-4 substituents independently selected from the group consisting of halogen and C 1-4 alkyl;

A 2 is G 1 ;

G 1 is a 4- to 12-membered saturated alicyclic ring system optionally having one carbon ring atom replaced by oxygen, wherein G 1 is optionally substituted with 1-4 substituents independently selected from the group consisting of OH, C 1-4 alkyl, C 1-4 haloalkyl, —OC 1-4 alkyl, cyano, oxo, and C 3-6 cycloalkyl;

R 1 is hydrogen;

R 2 is hydrogen; and

R 3 is C 1-4 alkyl or hydrogen.

12. The compound of claim 1 , selected from the group consisting of

N-[(3R,4S)-3- hydroxytetrahydropyran-4- yl]-6-[(4-pyrazol-1- ylphenyl)methyl]-1,3- benzodioxole-4- carboxamide

N-[(1S,2S)-2- hydroxycyclohexyl]-6-[(4- pyrazol-1-ylphenyl)methyl]- 1,3-benzodioxole-4- carboxamide

N-(2-oxaspiro[3.3]heptan-6- yl)-6-[(4-pyrazol-1- ylphenyl)methyl]-1,3- benzodioxole-4- carboxamide

N-[(1S,2S)-2- hydroxycyclopentyl]-6-[(4- pyrazol-1-ylphenyl)methyl]- 1,3-benzodioxole-4- carboxamide

N-[(1S,2S)-2- hydroxycyclobutyl]-6-[(4- pyrazol-1-ylphenyl)methyl]- 1,3-benzodioxole-4- carboxamide

N-[(1S,2S)-2- hydroxycycloheptyl]-6-[(4- pyrazol-1-ylphenyl)methyl]- 1,3-benzodioxole-4- carboxamide

N-(3,3- dimethyltetrahydropyran-4- yl)-6-[(4-pyrazol-1- ylphenyl)methyl]-1,3- benzodioxole-4- carboxamide

N-[(3R,4S)-3- hydroxytetrahydropyran-4- yl]-6-[[6-(1-methylpyrazol- 3-yl)-3-pyridyl]methyl]-1,3- benzodioxole-4- carboxamide

N-[(1S,2S)-2- hydroxycycloheptyl]-6-[[6- (1-methylpyrazol-3-yl)-3- pyridyl]methyl]-1,3- benzodioxole-4- carboxamide

N-[(1S,2S)-2- hydroxycyclohexyl]-6-[[6- (1-methylpyrazol-3-yl)-3- pyridyl]methyl]-1,3- benzodioxole-4- carboxamide

N-[(1S,2S)-2- hydroxycyclopentyl]-6-[[6- (1-methylpyrazol-3-yl)-3- pyridyl]methyl]-1,3- benzodioxole-4- carboxamide

N-[(1S,2S)-2- hydroxycyclobutyl]-6-[[6- (1-methylpyrazol-3-yl)-3- pyridyl]methyl]-1,3- benzodioxole-4- carboxamide

6-[[6-(1-methylpyrazol-3- yl)-3-pyridyl]methyl]-N-(2- oxaspiro[3.3]heptan-6-yl)- 1,3-benzodioxole-4- carboxamide

6-[[6-(1-methylpyrazol-3- yl)-3-pyridyl]methyl]-N- tetrahydropyran-4-yl-1,3- benzodioxole-4- carboxamide

N-[(3R,4S)-3- hydroxytetrahydropyran-4- yl]-6-[[4-(2-methyloxazol-4- yl)phenyl]methyl]-1,3- benzodioxole-4- carboxamide

N-[(1S,2S)-2- hydroxycyclohexyl]-6-[[4- (2-methyloxazol-4- yl)phenyl]methyl]-1,3- benzodioxole-4- carboxamide

N-[(3R,4S)-3- hydroxytetrahydropyran-4- yl]-7-methyl-6-[(4-pyrazol- 1-ylphenyl)methyl]-1,3- benzodioxole-4- carboxamide

N-[(1S,2S)-2- hydroxycyclohexyl]-7- methyl-6-[(4-pyrazol-1- ylphenyl)methyl]-1,3- benzodioxole-4- carboxamide

N-[(3R,4S)-3- hydroxytetrahydropyran-4- yl]-7-methyl-6-[[4-(1- methylpyrazol-3- yl)phenyl]methyl]-1,3- benzodioxole-4- carboxamide

N-[(1S,2S)-2- hydroxycyclohexyl]-7- methyl-6-[[4-(1- methylpyrazol-3- yl)phenyl]methyl]-1,3- benzodioxole-4- carboxamide

or a pharmaceutically acceptable salt thereof.

13. A pharmaceutical composition comprising the compound of claim 1 , or pharmaceutically acceptable salt thereof, and a pharmaceutically acceptable carrier.

14. A method for positively modulating M 1 muscarinic acetylcholine receptor activity in a subject, comprising administering to the subject, a therapeutically effective amount of the compound of claim 1 , or a pharmaceutically acceptable salt thereof.

15. The method of claim 14 , wherein the subject has a disorder selected from the group consisting of Alzheimer's disease, schizophrenia, a sleep disorder, a pain disorder, or a cognitive disorder, or a combination thereof.

16. The method of claim 15 , wherein the disorder is a pain disorder selected from the group consisting of neuropathic pain, central pain syndrome, postsurgical pain syndrome, bone and joint pain, repetitive motion pain, dental pain, cancer pain, myofascial pain, perioperative pain, chronic pain, dysmennorhea, inflammatory pain, headache, migraine headache, cluster headache, primary hyperalgesia, secondary hyperalgesis, primary allodynia, and secondary allodynia, or a combination thereof.

17. The compound of claim 11 selected from the group consisting of:

6-(4-(1H-pyrazol-1-yl) benzyl)-N-((3R,4S)- 3-hydroxytetrahydro- 2H-pyran-4-yl)-7- methylbenzo[d][1,3] dioxole-2,2-d 2 -4- carboxamide

6-(4-(1H-pyrazol-1-yl) benzyl)-N-((1S,2S)-2- hydroxycyclohexyl)-7- methylbenzo[d][1,3] dioxole-2,2-d 2 -4- carboxamide

6-(4-(1H-pyrazol-1-yl) benzyl)-N-((1S,2S)-2- hydroxycyclopentyl)-7- methylbenzo[d][1,3] dioxole-2,2-d 2 -4- carboxamide

or a pharmaceutically acceptable salt thereof.

18. The method of claim 14 , wherein the subject has a disorder selected from the group consisting of psychosis, schizophrenia, conduct disorder, disruptive behavior disorder, bipolar disorder, psychotic episodes of anxiety, anxiety associated with psychosis, psychotic mood disorders, severe major depressive disorder, mood disorders associated with psychotic disorders, acute mania, depression associated with bipolar disorder, mood disorders associated with schizophrenia, behavioral manifestations of mental retardation, autistic disorder, movement disorders, Tourette's syndrome, akinetic-rigid syndrome, movement disorders associated with Parkinson's disease, tardive dyskinesia, drug induced and neurodegeneration based dyskinesias, attention deficit hyperactivity disorder, cognitive disorders, dementias, and memory disorders, or a combination thereof.