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Common Stock - Shares Reserved for Future Issuance (Details)
Dec. 31, 2023
shares
Class of Stock [Line Items]  
Total common shares reserved for future issuance (in shares) 10,439,401
Outstanding stock options  
Class of Stock [Line Items]  
Total common shares reserved for future issuance (in shares) 6,196,140
Outstanding stock options | 2021 Employee stock purchase plan  
Class of Stock [Line Items]  
Total common shares reserved for future issuance (in shares) 11
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, as amended on June 28, 2023  
Class of Stock [Line Items]  
Total common shares reserved for future issuance (in shares) 4,153,689