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Summary of Significant Accounting Policies - Securities (Details) - shares
 3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Class of Stock [Line Items]    
Anti-dilutive securities excluded from computation (in shares) 3,130,071 2,937,005
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) 928,900 1,019,076
Restricted stock units    
Class of Stock [Line Items]    
Anti-dilutive securities excluded from computation (in shares) 1,781,040 1,494,085
Employee stock purchase plan    
Class of Stock [Line Items]    
Anti-dilutive securities excluded from computation (in shares) 11,023 14,736