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Stock Incentive Plans and Stock-Based Compensation - Assumptions Used in Fair Value of Stock Options and ESPP (Details)
6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Stock options    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Average expected term (years)   5 years
Expected stock price volatility, minimum   75.75%
Expected stock price volatility, maximum   76.01%
Risk-free interest rate, minimum   3.57%
Risk-free interest rate, maximum   3.57%
Dividend yield   0.00%
ESPP | Employee stock purchase plan    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Average expected term (years) 1 year 3 months 18 days 1 year 3 months 18 days
Expected stock price volatility, minimum 72.04% 72.80%
Expected stock price volatility, maximum 130.95% 82.61%
Risk-free interest rate, minimum 4.43% 4.77%
Risk-free interest rate, maximum 5.33% 5.07%
Dividend yield 0.00% 0.00%