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Stock Option Plans - Stock Option Activity (Details) - $ / shares
1 Months Ended 3 Months Ended
Mar. 31, 2016
Feb. 28, 2014
Mar. 31, 2022
Shares Available for Grant      
Beginning balance     2,806,953
Ending balance     5,249,273
Number of Options      
Beginning balance     6,354,308
Ending balance     5,773,988
2014 Plan      
Stock Option Plans      
Vesting period   4 years  
Maximum exercise term   10 years  
Exercise price of common stock of its fair value (as a percent)   100.00%  
Maximum number of options that may be re-issued under the 2016 plan 1,136,229    
Shares Available for Grant      
Ending balance 0    
2016 Plan      
Stock Option Plans      
Vesting period 4 years    
Maximum exercise term 10 years    
Exercise price of common stock of its fair value (as a percent) 100.00%    
Shares Available for Grant      
Beginning balance     2,806,953
Additional shares authorized     1,862,000
Granted     (72,400)
Forfeited     652,720
Ending balance     5,249,273
Number of Options      
Beginning balance     6,354,308
Granted     72,400
Forfeited     (652,720)
Ending balance     5,773,988
Weighted-Average Exercise Price      
Beginning balance (in dollars per share)     $ 6.80
Granted (in dollars per share)     1.99
Forfeited (in dollars per share)     8.83
Ending balance (in dollars per share)     $ 6.51