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Common Stock (Tables)
6 Months Ended
Jun. 30, 2023
Common Stock [Abstract]  
Schedule of common stock reserved for future issuance
   June 30,   December 31, 
   2023   2022 
Outstanding and issued common stock options   9,345,537    6,169,180 
Common stock warrants   4,999,863    4,999,863 
Outstanding restricted stock units   1,179,771    2,617,445 
Shares available for grant under 2021 Employee Stock Purchase Plan   1,184,572    869,117 
Shares available for grant under 2021 Equity Incentive Plan   855,464    1,383,661 
Shares available for grant under 2022 Inducement Equity Incentive Plan   2,301,841    1,295,672 
Total shares of common stock reserved   19,867,048    17,334,938