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Stockholders' Equity - January 2020 Equity Offering (Details) - USD ($)
$ / shares in Units, $ in Millions
1 Months Ended 3 Months Ended 6 Months Ended
Jan. 31, 2020
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Jun. 15, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Sale of common stock (USD per share)           $ 0.0001
Jan. 2020 Investor Warrants            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Sale of common stock (in shares) 98,337          
Sale of common stock (USD per share) $ 23.59          
Securities called by warrants (in shares) 98,337          
Exercise price of common stock (USD per share) $ 23.59          
Purchase price (USD per share) $ 4.38          
Warrants issued (in shares)       26,819 26,819  
January 2020 Warrants            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Securities called by warrants (in shares) 6,883          
Exercise price of common stock (USD per share) $ 34.96          
January 2020 Equity Offering            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Exercise price of common stock (USD per share)   $ 25.66   $ 25.66    
Warrants issued (in shares)       32,773 32,773  
Estimated proceeds from issuance of warrants       $ 0.8    
Issuance of common stock upon the exercise of warrants (in shares)   0 0 0 0