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Common Stock - Shares Reserved for Future Issuance (Details)
Sep. 30, 2023
shares
Class of Stock [Line Items]  
Total common shares reserved for future issuance (in shares) 10,471,748
Outstanding stock options  
Class of Stock [Line Items]  
Total common shares reserved for future issuance (in shares) 6,263,910
Outstanding stock options | 2021 Employee stock Purchase Plan  
Class of Stock [Line Items]  
Total common shares reserved for future issuance (in shares) 32,358
Common stock options available for future grant: | 2014 Equity Incentive Plan  
Class of Stock [Line Items]  
Total common shares reserved for future issuance (in shares) 43,311
Common stock options available for future grant: | 2017 Inducement Equity Incentive Plan  
Class of Stock [Line Items]  
Total common shares reserved for future issuance (in shares) 46,250
Common stock options available for future grant: | 2019 Omnibus Equity Incentive Plan  
Class of Stock [Line Items]  
Total common shares reserved for future issuance (in shares) 4,085,919