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Stock Option Plans - Summary of Assumptions Used to Calculate Estimated Fair Value of Stock Options (Details)
 3 Months Ended 9 Months Ended
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]      
Expected volatility 97.40%    
Expected volatility, minimum   80.20% 78.00%
Expected volatility, maximum   81.90% 97.40%
Weighted-average volatility 97.40% 81.70% 94.10%
Risk-free rate, minimum 3.55% 3.50% 1.38%
Risk-free rate, maximum 3.56% 3.90% 3.56%
Minimum [Member]      
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]      
Expected term (in years) 5 years 9 months 7 days 5 years 9 months 7 days 5 years 6 months
Maximum [Member]      
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]      
Expected term (in years) 6 years 29 days 6 years 29 days 6 years 29 days