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Stockholders' Equity - Reserved Shares of Common Stock for Issuance (Details) - shares
Sep. 30, 2023
Dec. 31, 2022
Class of Stock [Line Items]    
Common stock reserved for future issuance (in shares) 8,018,219 4,646,215
Stock options issued and outstanding    
Class of Stock [Line Items]    
Common stock reserved for future issuance (in shares) 98,105 159,741
Nonvested restricted stock units issued and outstanding    
Class of Stock [Line Items]    
Common stock reserved for future issuance (in shares) 2,547,955 2,607,106
Stock-based awards available for grant under the 2017 Plan    
Class of Stock [Line Items]    
Common stock reserved for future issuance (in shares) 5,372,159 1,879,368