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Stockholders' Equity - Summary of Stock Option Activity (Details)
$ / shares in Units, $ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2023
USD ($)
$ / shares
shares
Jun. 30, 2023
USD ($)
$ / shares
shares
Number of Options    
Outstanding, beginning of period (in shares) | shares   2,235,052
Granted (in shares) | shares   1,991,757
Exercised (in shares) | shares (468) (468)
Expired (in shares) | shares   (75,772)
Cancelled/Forfeited (in shares) | shares   (22,637)
Outstanding, end of period (in shares) | shares 4,127,932 4,127,932
Exercisable (in shares) | shares 1,741,313 1,741,313
Weighted Average Exercise Price Per Share    
Outstanding, Weighted Average Exercise Price Per Share, beginning of period (in dollars per share) | $ / shares   $ 10.30
Granted, Weighted Average Exercise Price Per Share (in dollars per share) | $ / shares   6.19
Exercised, Weighted Average Exercise Price Per Share (in dollars per share) | $ / shares   4.67
Expired, Weighted Average Exercise Price Per Share (in dollars per share) | $ / shares   9.49
Cancelled-Forfeited, Weighted Average Exercise Price Per Share (in dollars per share) | $ / shares   10.36
Outstanding, Weighted Average Exercise Price Per Share, end of period (in dollars per share) | $ / shares $ 8.33 8.33
Weighted Average Exercise Price, Exercisable (in dollars per share) | $ / shares $ 10.56 $ 10.56
Weighted Average Remaining Contractual Term (in years) and Aggregate Intrinsic Value    
Weighted Average Remaining Contractual Term (in years), Outstanding   8 years 8 months 12 days
Weighted Average Remaining Contractual Term (in years), Exercisable   7 years 8 months 12 days
Aggregate Intrinsic Value, Outstanding | $ $ 994 $ 994
Aggregate Intrinsic Value, Exercisable | $ $ 116 $ 116