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Net Loss per Common Share - Anti-Dilutive Effect Excluded from Computation of Diluted Net Loss Per Share Attributable to Common Stockholders (Details) - shares
6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Anti-dilutive effect excluded from computation of diluted net loss per share attributable to common stockholders 13,207,907 11,227,985
Apexigen Replacement Warrants    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Anti-dilutive effect excluded from computation of diluted net loss per share attributable to common stockholders 1,003,191  
Stock Options Outstanding    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Anti-dilutive effect excluded from computation of diluted net loss per share attributable to common stockholders 6,956,497 5,304,271
Non-Vested and Unsettled Restricted Stock Units    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Anti-dilutive effect excluded from computation of diluted net loss per share attributable to common stockholders 3,053,833 3,803,103
Shares Reserved for Future Issuance    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Anti-dilutive effect excluded from computation of diluted net loss per share attributable to common stockholders 1,578,783 1,475,856
Employee Stock Purchase Plan    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Anti-dilutive effect excluded from computation of diluted net loss per share attributable to common stockholders 615,603 644,755