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Stock-Based Compensation - Stock option activity (Details) - USD ($)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Number of Options    
Outstanding at the beginning (in shares) 3,559,041  
Granted (in shares) 2,411,610 1,227,810
Exercised (in shares) (125,624)  
Cancelled (in shares) (348,630)  
Outstanding at the end (in shares) 5,496,397 3,559,041
Vested and exercisable (in shares) 2,874,152  
Weighted- Average Exercise Price per Share    
Weighted Average Exercise Price per Share Outstanding at the beginning (in dollars per share) $ 7.36  
Weighted Average Exercise Price per Share Granted (in dollars per share) 5.41  
Weighted Average Exercise Price per Share Exercised (in dollars per share) 3.54  
Weighted Average Exercise Price per Share Cancelled (in dollars per share) 8.10  
Weighted Average Exercise Price per Share Outstanding at the end (in dollars per share) 6.54 $ 7.36
Weighted Average Exercise Price per Share Vested and Exercisable (in dollars per share) $ 5.99  
Weighted Average Remaining Contractual Term (in Years)    
Weighted Average Remaining Contractual Term (in years) 7 years 3 months 29 days
Weighted Average Remaining Contractual Term, Vested and exercisable (in Years) 6 years 1 month 28 days  
Aggregate Intrinsic Value    
Aggregate Intrinsic Value Outstanding $ 11,556,739  
Aggregate Intrinsic Value Vested and exercisable $ 7,377,923