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Basis of Presentation, Significant Accounting Policies and Fair Value Measurements - Common Stock Equivalent Shares Excluded From Calculation of Diluted Net Loss Per Share (Details) - shares
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Anti-dilutive Shares Excluded from Calculation of Diluted Net Loss Per Share (in shares) 13,004,006 11,442,575
Employee Stock Option    
Anti-dilutive Shares Excluded from Calculation of Diluted Net Loss Per Share (in shares) 9,571,521 9,402,106
Restricted Stock Units    
Anti-dilutive Shares Excluded from Calculation of Diluted Net Loss Per Share (in shares) 2,982,485 1,590,469
Warrants    
Anti-dilutive Shares Excluded from Calculation of Diluted Net Loss Per Share (in shares) 450,000 450,000