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Stockholders' Equity - Schedule of Outstanding Warrants to Purchase Shares of Common Stock (Details)
 3 Months Ended
Mar. 31, 2024
$ / shares
shares
Class Of Warrant Or Right [Line Items]  
Shares of Common Stock Underlying Warrants 11,956,173
Warrants Term Loan  
Class Of Warrant Or Right [Line Items]  
Shares of Common Stock Underlying Warrants 25,000
Warrant exercise price | $ / shares $ 22.06
Warrant expiration date Jun. 30, 2025
Warrants Term Loan  
Class Of Warrant Or Right [Line Items]  
Shares of Common Stock Underlying Warrants 33,923
Warrant exercise price | $ / shares $ 19.12
Warrant expiration date May 28, 2031
Warrants Term Loan  
Class Of Warrant Or Right [Line Items]  
Shares of Common Stock Underlying Warrants 174,093
Warrant exercise price | $ / shares $ 9.76
Warrant expiration date Jan. 27, 2033
Warrants Public Offerings  
Class Of Warrant Or Right [Line Items]  
Shares of Common Stock Underlying Warrants 9,842,076
Warrant exercise price | $ / shares $ 5.325
Warrant expiration date Jul. 01, 2024
Pre-funded Warrants  
Class Of Warrant Or Right [Line Items]  
Shares of Common Stock Underlying Warrants 1,881,081
Warrant exercise price | $ / shares $ 0.001
Expiration Date Do not expire