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Common stock reserved for future issuance (Details) - shares | Dec. 31, 2021 | Dec. 31, 2020
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A 2004 Equity Incentive Plan [Member] |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
2004 Equity Incentive Plan | 208,681 | 393,351
Share-based Payment Arrangement, Option [Member] |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
2004 Equity Incentive Plan | 1,378,122 | 1,994,806
Subordinated Convertible Note [Member] |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
2004 Equity Incentive Plan | 958,904 | 1,047,945
Warrant To Purchase Common Stock [Member] |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
2004 Equity Incentive Plan | 50,000 |

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- Definition Aggregate number of common shares reserved for future issuance. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02.29) -URI http://asc.fasb.org/extlink&oid=120391452&loc=d3e13212-122682 + Details
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- Definition Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table. + References No definition available. + Details
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