Annual report pursuant to Section 13 and 15(d)

Summary of Significant Accounting Policies - Schedule of Common Stock Equivalents Excluded from the Calculation of Diluted Net Loss Per Share (Details)

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Summary of Significant Accounting Policies - Schedule of Common Stock Equivalents Excluded from the Calculation of Diluted Net Loss Per Share (Details) - shares
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Anti-dilutive securities      
Total shares excluded from diluted net loss per share applicable to common stockholders 17,074,046 1,433,492 1,219,315
Stock options      
Anti-dilutive securities      
Total shares excluded from diluted net loss per share applicable to common stockholders 1,727,327 665,727 546,861
Unvested Restricted Stock Units      
Anti-dilutive securities      
Total shares excluded from diluted net loss per share applicable to common stockholders 1,204,421 268,749 173,438
Warrants      
Anti-dilutive securities      
Total shares excluded from diluted net loss per share applicable to common stockholders 14,142,298 499,016 499,016