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Stockholders' Equity- Schedule of Common Stock Reserved for Future Issuance (Parenthetical) (Details) - shares |  | 9 Months Ended |  |
--- | --- | --- | --- | ---
Jan. 01, 2023 | Sep. 30, 2023 | Dec. 31, 2022 | Feb. 05, 2021
Class Of Stock [Line Items] |  |  |  |
Treasury stock, shares at cost |  | 541,000 | 541,000 |
2016 Equity Incentive Plan |  |  |  |
Class Of Stock [Line Items] |  |  |  |
Number of authorized shares increased |  | 431,000 |  |
2016 Employee Stock Purchase Plan |  |  |  |
Class Of Stock [Line Items] |  |  |  |
Number of authorized shares increased | 100,000 |  |  |
2021 Inducement Plan |  |  |  |
Class Of Stock [Line Items] |  |  |  |
Number of authorized shares |  |  |  | 300,000

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