Kaleb and Leela are adopted non-biological siblings.
Kaleb was given up as a baby for a variety of reasons- mostly because his bio parents were irresponsible and also didn't want to deal with a kid with powers, because at his young age there was no way of telling what the powers would be. They live on opposite sides of the continent now and rarely come into contact, maybe once every other year? Kaleb doesn't particularly care for them and thinks of his adoptive parents and sister as bio.
Leela had a much sadder childhood. She was supposed to have large angel-like wings, like the rare human subspecies she belongs to, but they came out tiny. Her birth parents didn't like that and held disdain for her, but they kept her for a while, hoping the wings would eventually grow out. They did not. When she was almost 10, her parents finally got sick of her and gave her to a new family. She's had horrible self-esteem and abandonment issues ever since, and is extremely clingy, but at least she's surrounded by people who love her now, including her brother Kaleb.