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Summary of Significant Accounting Policies - Securities (Details) - shares
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Class of Stock [Line Items]    
Anti-dilutive securities excluded from computation (in shares) 2,828,086 2,925,262
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) 986,819 1,421,235
Restricted stock units    
Class of Stock [Line Items]    
Anti-dilutive securities excluded from computation (in shares) 1,387,459 1,036,208
Employee stock purchase plan    
Class of Stock [Line Items]    
Anti-dilutive securities excluded from computation (in shares) 44,700 58,711