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Stockholders' Equity - Summary of Common Stock Warrant Activity (Details) - Common Warrants
 9 Months Ended
Sep. 30, 2023
$ / shares
shares
Class Of Warrant Or Right Outstanding [Roll Forward]  
Outstanding, beginning of period (in shares) | shares 5,153,291
Warrants issued (in shares) | shares 81,848
Warrants exercised (in shares) | shares (569,938)
Outstanding, end of period (in shares) | shares 4,665,201
Exercisable, end of period (in shares) | shares 4,665,201
Weighted Average Exercise Price  
Outstanding, beginning of period (in dollars per share) | $ / shares $ 7.01
Warrants issued (in dollars per share) | $ / shares 2.94
Warrants exercised (in dollars per share) | $ / shares 0.26
Outstanding, ending of period (in dollars per share) | $ / shares 7.76
Exercisable, (in dollars per share) | $ / shares $ 7.76
Weighted Average Remaining Life (in years)  
Weighted Average Remaining Life (in years), Outstanding 1 year 10 months 24 days
Weighted Average Remaining Life, Exercisable 1 year 10 months 24 days