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Equity Incentive Plans and Stock-based Compensation - Schedule of Stock-Based Compensation Expense (Details) - Employee Stock Option - USD ($)	3 Months Ended		6 Months Ended
	Jun. 30, 2026	Jun. 30, 2025	Jun. 30, 2026	Jun. 30, 2025
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation expense	$ 1,158,000	$ 1,709,000	$ 2,520,000	$ 3,877,000
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Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation expense	0		0
Income Statement Location [Axis]: us-gaap:ResearchAndDevelopmentExpense
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation expense	459,000	686,000	982,000	1,454,000
Income Statement Location [Axis]: us-gaap:SellingGeneralAndAdministrativeExpense
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation expense	$ 699,000	$ 1,023,000	$ 1,538,000	$ 2,423,000

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Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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