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Summary of Significant Accounting Policies - Securities (Details) - shares
 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Class of Stock [Line Items]    
Anti-dilutive securities excluded from computation (in shares) 2,943,922 3,062,931
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) 817,046 994,526
Restricted stock units    
Class of Stock [Line Items]    
Anti-dilutive securities excluded from computation (in shares) 1,679,469 1,598,578
Employee stock purchase plan    
Class of Stock [Line Items]    
Anti-dilutive securities excluded from computation (in shares) 38,299 60,719