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Stock-based Compensation - Schedule of Activities Under Company's Stock Option Plans (Details)
12 Months Ended
Dec. 31, 2024
USD ($)
$ / shares
shares
Number of Options  
Balances, beginning of the period | shares 12,949,612
Options granted | shares 2,389,000
Options exercised | shares (132,351)
Options cancelled/forfeited | shares (644,200)
Balances, end of the period | shares 14,562,061
Options Exercisable, end of the period | shares 10,565,931
Options Outstanding, Weighted-Average Exercise Price Per Share  
Balances, beginning of the period | $ / shares $ 7.16
Options granted | $ / shares 1.7
Options exercised | $ / shares 1.58
Options cancelled/forfeited | $ / shares 9.87
Balances, end of the period | $ / shares 6.20
Options Exercisable, end of the period | $ / shares $ 7.67
Options Outstanding, Weighted- Average Remaining Contractual Life (years)  
Balances, end of the period 5 years 10 months 24 days
Options Exercisable, end of the period 5 years 2 months 23 days
Options Outstanding, Aggregate Intrinsic Value  
Options exercised | $ $ 98,100
Balances at December 31, 2024 | $ 0
Options Exercisable-December 31, 2024 | $ $ 0