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Summary of Dilutive Common Shares were Excluded from Calculation of Diluted Net Loss Per Share (Details) - shares
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]    
Total 5,828,230 5,337,105
Shares Subject to Options to Purchase Common Stock [Member]    
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]    
Total 5,146,382 4,476,215
Unvested Restricted Stock Units [Member]    
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]    
Total 681,846 860,888
Shares Subject to Warrants to Purchase Common Stock [Member]    
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]    
Total 2 2