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Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares | Dec. 31, 2023 | Dec. 31, 2022
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Class Of Stock [Line Items] |  |  |
Common stock, reserved for future issuance |  | 4,083,000 | 3,825,000
Stock options issued and outstanding [Member] |  |  |
Class Of Stock [Line Items] |  |  |
Common stock, reserved for future issuance |  | 2,104,000 | 2,065,000
Stock awards issued and outstanding [Member] |  |  |
Class Of Stock [Line Items] |  |  |
Common stock, reserved for future issuance |  | 817,000 | 581,000
Authorized for Grants under the 2016 Equity Incentive Plan |  |  |
Class Of Stock [Line Items] |  |  |
Common stock, reserved for future issuance | [1] | 448,000 | 507,000
Authorized for grants under the 2016 Employee Stock Purchase Plan |  |  |
Class Of Stock [Line Items] |  |  |
Common stock, reserved for future issuance | [2] | 540,000 | 378,000
2021 Inducement Plan |  |  |
Class Of Stock [Line Items] |  |  |
Common stock, reserved for future issuance | [3] | 174,000 | 294,000
[1] | On January 1 ,2023, the number of authorized shares in the 2016 Plan increased by 431,000 shares pursuant to the evergreen provisions of the 2016 Equity Incentive Plan.
[2] | On January 1, 2023, the number of authorized shares in the 2016 Employee Stock Purchase Plan increased by 100,000 shares pursuant to the evergreen provisions of the 2016 Employee Stock Purchase Plan.
[3] | On February 5, 2021, 300,000 shares were authorized pursuant to the terms of the Inducement Plan. 188,000 shares were issued under the Inducement Plan during the year ended December 31, 2023

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