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Stockholders' Equity - Stock Option Activity (Details)
 6 Months Ended
Jun. 30, 2024
$ / shares
shares
Number of Shares  
Balance, beginning of period (in shares) | shares 3,142,981
Options granted (in shares) | shares 895,125
Options exercised (in shares) | shares (39,466)
Options canceled (in shares) | shares (232,238)
Balance, end of period (in shares) | shares 3,766,402
Weighted Average Exercise Price  
Balance, beginning of period (in dollars per share) | $ / shares $ 16.40
Options granted (in dollars per share) | $ / shares 9.09
Options exercised (in dollars per share) | $ / shares 2.02
Options canceled (in dollars per share) | $ / shares 21.85
Balance, end of period (in dollars per share) | $ / shares $ 14.48