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Stock-Based Compensation (Details)
1 Months Ended 9 Months Ended
Feb. 01, 2020
shares
Feb. 29, 2016
shares
Dec. 31, 2015
Sep. 30, 2022
item
shares
May 30, 2019
shares
2015 Equity Incentive Plan          
Stock-based compensation          
Expiration period     10 years    
Automatic annual increase in shares authorized, percent of common stock outstanding       3.50%  
Shares available for grant       20,390,940  
Inducement Plan          
Stock-based compensation          
Shares available for grant       701,071  
Total shares that may be issued         1,800,000
2016 Employee Stock Purchase Plan          
Stock-based compensation          
Shares available for grant   800,000   13,050,523  
Share increase (as a percent)   1.00%      
Payroll deductions for ESPP participants (as a percent)       15.00%  
Percentage on share price issued       85.00%  
Offering period duration       6 months  
Purchase periods | item       2  
Stock issued 566,573     93,053  
1997 Stock Option Plan          
Stock-based compensation          
Options vested and expected to vest       1,223,273