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Stockholders' Equity (Deficit) - Summary of Stock Option Activity (Details)
$ / shares in Units, $ in Thousands
 9 Months Ended
Sep. 30, 2022
USD ($)
$ / shares
shares
Stockholders' Equity Note [Abstract]  
Number of Shares, Outstanding | shares 1,732,460
Number of Shares, Granted | shares 650,083
Number of Shares, Expired | shares (36,628)
Number of Shares, Cancelled/Forfeited | shares (95,960)
Number of Shares, Outstanding | shares 2,249,955
Number of Shares, Exercisable | shares 1,143,154
Weighted Average Exercise Price, Outstanding | $ / shares $ 11.69
Weighted Average Exercise Price, Granted | $ / shares 7.05
Weighted Average Exercise Price, Expired | $ / shares 10.44
Weighted Average Exercise Price, Cancelled/Forfeited | $ / shares 9.69
Weighted Average Exercise Price, Outstanding | $ / shares 10.46
Weighted Average Exercise Price, Exercisable | $ / shares $ 11.27
Weighted Average Remaining Contractual Term (Years), Outstanding 8 years 4 months 24 days
Weighted Average Remaining Contractual Term (Years), Exercisable 8 years 1 month 6 days
Aggregate Intrinsic Value, Outstanding | $ $ 0
Aggregate Intrinsic Value, Exercisable | $ $ 0