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Common Stock - Shares Reserved for Issuance (Details) - shares
Mar. 31, 2023
Dec. 31, 2022
Class of Stock [Line Items]    
Reserved shares of common stock (in shares) 18,217,499 16,011,495
Issuances under stock incentive plan    
Class of Stock [Line Items]    
Reserved shares of common stock (in shares) 7,708,686 8,180,840
Issuances upon exercise of common stock warrants    
Class of Stock [Line Items]    
Reserved shares of common stock (in shares) 137,658 137,658
Issuances upon vesting of restricted stock units    
Class of Stock [Line Items]    
Reserved shares of common stock (in shares) 5,109,200 6,779,892
Issuances of convertible notes    
Class of Stock [Line Items]    
Reserved shares of common stock (in shares) 516,758 516,758
Shares reserved for shares available to be granted but not granted yet    
Class of Stock [Line Items]    
Reserved shares of common stock (in shares) 4,745,197 396,347