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Common Stock (Details) - shares
Mar. 31, 2024
Dec. 31, 2023
Class of Stock [Line Items]    
Reserved shares of common stock (in shares) 32,699,722 30,154,209
Issuances under stock incentive plan    
Class of Stock [Line Items]    
Reserved shares of common stock (in shares) 6,186,944 6,625,812
Issuances upon exercise of common stock warrants    
Class of Stock [Line Items]    
Reserved shares of common stock (in shares) 95,973 137,658
Issuances upon vesting of restricted stock units    
Class of Stock [Line Items]    
Reserved shares of common stock (in shares) 5,408,458 6,182,543
Issuances upon conversion of convertible notes    
Class of Stock [Line Items]    
Reserved shares of common stock (in shares) 325,981 325,981
Shares reserved for shares available to be granted but not granted yet    
Class of Stock [Line Items]    
Reserved shares of common stock (in shares) 20,682,366 16,882,215