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Stock Plans - Schedule of Fair Value of Option Issued Valuation Assumptions (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected volatility	90.00%	89.00%
Expected term (in years)	6 years	6 years
Expected dividend yield	0.00%	0.00%
Risk-free interest rate	4.20%	2.60%
Employee Stock Purchase Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected volatility	78.00%	77.00%
Expected term (in years)	1 year 3 months 18 days	1 year 2 months 12 days
Expected dividend yield	0.00%	0.00%
Risk-free interest rate	5.00%	3.00%

X

- Definition

The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term.

+ References

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- Definition

The estimated measure of the percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period.

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- Definition

The risk-free interest rate assumption that is used in valuing an option on its own shares.

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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Expected term of award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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