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Summary of Significant Accounting Policies - Securities (Details) - shares
 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Class of Stock [Line Items]    
Anti-dilutive securities excluded from computation (in shares) 3,062,931 3,173,725
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) 994,526 1,949,374
Restricted stock units    
Class of Stock [Line Items]    
Anti-dilutive securities excluded from computation (in shares) 1,598,578 784,940
Employee stock purchase plan    
Class of Stock [Line Items]    
Anti-dilutive securities excluded from computation (in shares) 60,719 30,303