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Equity Financings (Details Textual) - USD ($) $ / shares in Units, $ in Millions | 9 Months Ended | 12 Months Ended |
--- | --- | --- | ---
Sep. 30, 2023 | Dec. 31, 2022 | Jul. 22, 2020
Equity Financing [Line Items] |  |  |
Common stock, par value | $ 0.001 | $ 0.001 |
JonesTrading |  |  |
Equity Financing [Line Items] |  |  |
Percentage of selling commission per additional shares sold |  |  | 3.00%
Sales Agreement | JonesTrading |  |  |
Equity Financing [Line Items] |  |  |
Common stock, par value |  |  | $ 0.001
Aggregate offering price of common stock authorized |  |  | $ 54.0
2020 Sales Agreement |  |  |
Equity Financing [Line Items] |  |  |
Sale of common stock | 0 | 0 |

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