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Stockholders' Equity - Summary of Assumptions used in Black-Scholes Option Pricing Model to Determine Fair Value of Stock Option Grants (Details)
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Risk-free interest rate, minimum 1.90% 1.90%
Risk-free interest rate, maximum 4.20% 2.50%
Expected volatility, minimum 83.40% 88.10%
Expected volatility, maximum 94.30% 89.50%
Expected dividend yield 0.00% 0.00%
Minimum    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Expected term (in years) 5 years 3 months 18 days 5 years 6 months
Maximum    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Expected term (in years) 6 years 1 month 6 days 6 years 1 month 6 days