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Summary of Significant Accounting Policies - Securities (Details) - shares
 9 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Class of Stock [Line Items]    
Anti-dilutive securities excluded from computation (in shares) 2,724,519 2,994,617
Warrants to purchase common stock    
Class of Stock [Line Items]    
Anti-dilutive securities excluded from computation (in shares) 325,330 409,108
Common stock options    
Class of Stock [Line Items]    
Anti-dilutive securities excluded from computation (in shares) 576,151 1,004,855
Restricted stock units    
Class of Stock [Line Items]    
Anti-dilutive securities excluded from computation (in shares) 1,810,468 1,568,112
Employee stock purchase plan    
Class of Stock [Line Items]    
Anti-dilutive securities excluded from computation (in shares) 12,570 12,542