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Stockholders' Equity - Summary of Stock Option Activity (Details) - 2018 Equity Incentive Plan
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2022
USD ($)
$ / shares
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Number of Outstanding Options, Beginning Balance | shares 3,947,025
Number of Outstanding Options, Granted | shares 2,169,800
Number of Outstanding Options, Exercised | shares
Number of Outstanding Options, Forfeitures and Cancellations | shares (1,014,324)
Number of Outstanding Options, Ending Balance | shares 5,102,501
Number of Outstanding Options, Exercisable | shares 2,483,222
Weighted- Average Exercise Price Per Share, Beginning Balance | $ / shares $ 4.58
Weighted- Average Exercise Price Per Share, Granted | $ / shares 3.63
Exercise price of options per share | $ / shares
Weighted- Average Exercise Price Per Share, Forfeitures and Cancellations | $ / shares 4.90
Weighted- Average Exercise Price Per Share, Ending Balance | $ / shares 4.11
Weighted- Average Exercise Price Per Share, Exercisable | $ / shares $ 4.23
Weighted Average Remaining Contractual Term, Options Outstanding 7 years 8 months 15 days
Weighted Average Remaining Contractual Term, Options Exercisable 6 years 9 months
Aggregate Intrinsic Value, Options Outstanding | $ $ 0
Aggregate Intrinsic Value, Options Exercisable | $ $ 0