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Stockholders’ Equity (Details) - Schedule of stock options outstanding and exercisable by exercise price
12 Months Ended
Dec. 31, 2022
$ / shares
shares
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Stock Options Outstanding, Number of Shares | shares 7,472,056
Stock Options Outstanding, Weighted - Average Remaining Contractual Life In Years 7 years 7 months 6 days
Stock Options Outstanding, Weighted - Average Exercise Price Per Share | $ / shares $ 4.23
Stock Options Exercisable, Number of Shares | shares 3,435,577
Stock Options Exercisable, Weighted - Average Exercise Price Per Share | $ / shares $ 6.7
Exercise Price Range From $0.38 - $0.38 [Member]  
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Stock Options Outstanding, Number of Shares | shares 3,221,367
Stock Options Outstanding, Weighted - Average Remaining Contractual Life In Years 9 years 7 months 6 days
Stock Options Outstanding, Weighted - Average Exercise Price Per Share | $ / shares $ 0.38
Stock Options Exercisable, Number of Shares | shares 0
Stock Options Exercisable, Weighted - Average Exercise Price Per Share | $ / shares
Exercise Price Range from $1.90 - $2.99 [Member]  
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Stock Options Outstanding, Number of Shares | shares 455,915
Stock Options Outstanding, Weighted - Average Remaining Contractual Life In Years 8 years 1 month 6 days
Stock Options Outstanding, Weighted - Average Exercise Price Per Share | $ / shares $ 2.6
Stock Options Exercisable, Number of Shares | shares 216,795
Stock Options Exercisable, Weighted - Average Exercise Price Per Share | $ / shares $ 2.16
Exercise Price Range $3.33 - $3.33 [Member]  
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Stock Options Outstanding, Number of Shares | shares 1,894,168
Stock Options Outstanding, Weighted - Average Remaining Contractual Life In Years 4 years 9 months 18 days
Stock Options Outstanding, Weighted - Average Exercise Price Per Share | $ / shares $ 3.33
Stock Options Exercisable, Number of Shares | shares 1,894,168
Stock Options Exercisable, Weighted - Average Exercise Price Per Share | $ / shares $ 3.33
Exercise Price Range From $3.5 - $16.07 [Member]  
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Stock Options Outstanding, Number of Shares | shares 1,607,002
Stock Options Outstanding, Weighted - Average Remaining Contractual Life In Years 7 years 7 months 6 days
Stock Options Outstanding, Weighted - Average Exercise Price Per Share | $ / shares $ 11.12
Stock Options Exercisable, Number of Shares | shares 1,051,427
Stock Options Exercisable, Weighted - Average Exercise Price Per Share | $ / shares $ 11.02
Exercise Price Range From $16.90 - $16.90 [Member]  
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Stock Options Outstanding, Number of Shares | shares 248,604
Stock Options Outstanding, Weighted - Average Remaining Contractual Life In Years 3 years 4 months 24 days
Stock Options Outstanding, Weighted - Average Exercise Price Per Share | $ / shares $ 16.9
Stock Options Exercisable, Number of Shares | shares 248,604
Stock Options Exercisable, Weighted - Average Exercise Price Per Share | $ / shares $ 16.9
Exercise Price Range From $17.79 - $17.79 [Member]  
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Stock Options Outstanding, Number of Shares | shares 25,000
Stock Options Outstanding, Weighted - Average Remaining Contractual Life In Years 8 years 2 months 12 days
Stock Options Outstanding, Weighted - Average Exercise Price Per Share | $ / shares $ 17.79
Stock Options Exercisable, Number of Shares | shares 14,583
Stock Options Exercisable, Weighted - Average Exercise Price Per Share | $ / shares $ 17.79
Exercise Price Range From $20.00 - $20.00 [Member]  
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Stock Options Outstanding, Number of Shares | shares 20,000
Stock Options Outstanding, Weighted - Average Remaining Contractual Life In Years 8 years 4 months 24 days
Stock Options Outstanding, Weighted - Average Exercise Price Per Share | $ / shares $ 20
Stock Options Exercisable, Number of Shares | shares 10,000
Stock Options Exercisable, Weighted - Average Exercise Price Per Share | $ / shares $ 20