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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 9 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Sep. 30, 2024
Sep. 30, 2023
Anti-dilutive Shares Excluded from Calculation of Diluted Net Loss Per Share (in shares) 12,695,261 11,728,033 12,885,288 11,634,831
Employee Stock Option        
Anti-dilutive Shares Excluded from Calculation of Diluted Net Loss Per Share (in shares) 9,113,427 9,573,680 9,372,790 9,494,833
Restricted Stock Units        
Anti-dilutive Shares Excluded from Calculation of Diluted Net Loss Per Share (in shares) 3,131,834 1,704,353 3,062,498 1,689,998
Warrants        
Anti-dilutive Shares Excluded from Calculation of Diluted Net Loss Per Share (in shares) 450,000 450,000 450,000 450,000