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Net Loss Per Share (Details) - shares
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]        
Antidilutive securities excluded from computation of diluted weighted-average shares outstanding (in shares) 9,476,719 7,111,889 9,476,719 7,798,548
Stock options        
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]        
Antidilutive securities excluded from computation of diluted weighted-average shares outstanding (in shares) 9,470,219 6,053,156 9,470,219 6,417,533
Warrants        
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]        
Antidilutive securities excluded from computation of diluted weighted-average shares outstanding (in shares) 6,500 1,058,733 6,500 1,381,015