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Net Loss Per Share (Details) - shares
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Outstanding dilutive securities not included in diluted loss per share calculation 1,596,124 2,680,994 2,873,193
Outstanding options to purchase common stock      
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Outstanding dilutive securities not included in diluted loss per share calculation 1,585,332 2,664,841 2,856,342
Outstanding warrants to purchase common stock      
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Outstanding dilutive securities not included in diluted loss per share calculation 10,792 16,153 16,851