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Stockholders' Equity - Equity Incentive Plans (Details) - shares
Dec. 31, 2023
Dec. 31, 2022
Stockholders' Equity    
Shares of common stock reserved for issuance (in shares) 8,368,546  
2011 Equity Incentive Plan | Unexercised Stock Options    
Stockholders' Equity    
Shares of common stock reserved for issuance (in shares) 4,771,255  
2021 Equity Incentive Plan    
Stockholders' Equity    
Number of common stock eligible for issuance 4,000,000  
Shares are granted available for issuance (in shares) 3,103,941  
Shares of common stock reserved for issuance (in shares) 3,103,941 3,103,941
2021 Equity Incentive Plan | Unexercised Stock Options    
Stockholders' Equity    
Shares of common stock reserved for issuance (in shares) 493,350