Summary of Significant Accounting Policies - Schedule of Common Stock Equivalents Excluded from the Calculation of Diluted Net Loss Per Share (Details) - shares	9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	18,306,366	16,422,513
Stock options
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	1,746,177	1,547,190
Unvested Restricted Stock Units
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	2,417,891	521,316
Warrants
Anti-dilutive securities
Total shares excluded from diluted net loss per share applicable to common stockholders	14,142,298	14,354,007