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Stock Option Plans - Stock Option Activity (Details) - $ / shares
 1 Months Ended 9 Months Ended
Mar. 31, 2016
Feb. 28, 2014
Sep. 30, 2023
Stock Option Plans      
Shares available for future option grants     5,099,421
Shares Available for Grant      
Shares Available for Grant, Opening Balance     4,017,011
Shares Available for Grant, Ending Balance     5,099,421
Number of Options      
Outstanding Options, Opening Balance     7,006,250
Outstanding Options, Ending Balance     7,762,672
2014 Plan      
Stock Option Plans      
Vesting period   4 years  
Maximum exercise term   10 years  
Exercise price of common stock of its fair value (as a percent)   100.00%  
Shares available for future option grants 0    
Maximum number of options that may be re-issued under the 2016 plan 1,136,229    
Shares Available for Grant      
Shares Available for Grant, Ending Balance 0    
2016 Plan      
Stock Option Plans      
Vesting period 4 years    
Maximum exercise term 10 years    
Exercise price of common stock of its fair value (as a percent) 100.00%    
Shares available for future option grants     5,099,421
Shares Available for Grant      
Shares Available for Grant, Opening Balance     4,017,011
Shares Available for Grant, Additional Shares Authorized     1,862,000
Shares Available for Grant, Options Granted     (1,002,000)
Shares Available for Grant, Options Forfeited     222,410
Shares Available for Grant, Ending Balance     5,099,421
Number of Options      
Outstanding Options, Opening Balance     7,006,250
Outstanding Options, Granted     1,002,000
Outstanding Options, Exercised     (23,168)
Outstanding Options, Forfeited     (222,410)
Outstanding Options, Ending Balance     7,762,672
Weighted-Average Exercise Price      
Outstanding Options - Weighted Average Exercise Price, Opening Balance     $ 5.25
Outstanding Options - Weighted Average Exercise Price, Granted     1.10
Outstanding Options - Weighted Average Exercise Price, Exercised     0.52
Outstanding Options - Weighted Average Exercise Price, Forfeited     5.98
Outstanding Options - Weighted Average Exercise Price, Ending Balance     $ 4.71