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Net Loss per Common Share - Schedule of Common Stock Equivalents Excluded from Diluted Net Loss Attributable to Common Stockholders (Details) - shares
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]        
Total 11,651 4,751,000 11,651 4,751,000
Options to Purchase Common Stock        
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]        
Total 3,262 3,280,000 3,262 3,280,000
Shares Committed Under ESPP        
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]        
Total 17 33,000 17 33,000
Warrants        
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]        
Total 5,603 103,000 5,603 103,000
Restricted Stock Units        
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]        
Total 2,769 1,335,000 2,769 1,335,000