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Summary of Significant Accounting Policies - Securities (Details) - shares
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Class of Stock [Line Items]    
Anti-dilutive securities excluded from computation (in shares) 2,937,005 3,296,651
Warrants to purchase common stock    
Class of Stock [Line Items]    
Anti-dilutive securities excluded from computation (in shares) 409,108 409,108
Common stock options    
Class of Stock [Line Items]    
Anti-dilutive securities excluded from computation (in shares) 1,019,076 2,002,039
Restricted stock units    
Class of Stock [Line Items]    
Anti-dilutive securities excluded from computation (in shares) 1,494,085 878,575
Employee stock purchase plan    
Class of Stock [Line Items]    
Anti-dilutive securities excluded from computation (in shares) 14,736 6,929