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Summary of Significant Accounting Policies - Net loss per share (Details) - shares
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Shares excluded from the computation of diluted net loss per share        
Potential common shares 8,545,136 8,121,933 8,545,136 8,121,933
Stock options        
Shares excluded from the computation of diluted net loss per share        
Potential common shares 6,881,198 6,584,725 6,881,198 6,584,725
Restricted stock units        
Shares excluded from the computation of diluted net loss per share        
Potential common shares 1,081,619 726,080 1,081,619 726,080
Performance stock units        
Shares excluded from the computation of diluted net loss per share        
Potential common shares 582,319 811,128 582,319 811,128