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.

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+ Details

Stock Plans and Stock-Based Compensation - Additional Information (Details) - shares	Dec. 31, 2023	Dec. 16, 2022	Sep. 15, 2016
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Amount of common stock reserved	7,000,000
2016 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Automatic increase percentage			3.00%
2022 Inducement Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Amount of common stock reserved		600,000