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Stock-based Compensation - Schedule of Estimating Fair Value of the Stock Options and Common stock Warrants Granted (Details)
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]    
Volatility   91.91%
Expected life (years) 6 years 29 days 6 years 29 days
Risk-free interest rate   3.99%
Risk-free interest rate minimum 3.98%  
Risk-free interest rate maximum 4.16%  
Dividend rate 0.00% 0.00%
Minimum    
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]    
Volatility 94.20%  
Maximum    
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]    
Volatility 102.54%