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Capital Stock and Warrants - Common stock reserved for future issuance (Details) - shares | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
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Capital Stock and Warrants |  |  |
Stock options to purchase common stock | 10,069,394 | 10,081,915 | 8,799,415
Warrants outstanding for future issuance of convertible preferred stock and common stock | 5,513,046 |  |
Stock options available for future issuance | 99,363 | 3,538,268 | 216,003
Total shares of common stock reserved | 25,180,886 |  |
Series A Preferred Stock (convertible to Class B Common Stock) |  |  |
Capital Stock and Warrants |  |  |
Preferred stock reserved for future issuance | 1,418,381 |  |
Series B Preferred Stock (convertible to Class B Common Stock) |  |  |
Capital Stock and Warrants |  |  |
Preferred stock reserved for future issuance | 3,498,859 |  |
Series m Preferred Stock (convertible to Class A Common Stock) |  |  |
Capital Stock and Warrants |  |  |
Preferred stock reserved for future issuance | 1,779,653 |  |
Series m-2 Preferred Stock (convertible to Class B Common Stock) |  |  |
Capital Stock and Warrants |  |  |
Preferred stock reserved for future issuance | 160,000 |  |
Series S Preferred Stock (convertible to Class A Common Stock) |  |  |
Capital Stock and Warrants |  |  |
Preferred stock reserved for future issuance | 2,642,190 |  |

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