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Stock Option Plans - Stock Option Activity (Details) - $ / shares
1 Months Ended 12 Months Ended
Mar. 31, 2016
Feb. 28, 2014
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Stock Option Plans          
Shares available for future option grants     4,017,011 2,806,953 1,692,753
Weighted average grant date fair value of options granted (in dollars per share)     $ 0.69 $ 1.93 $ 2.66
Shares Available for Grant          
Beginning balance     2,806,953 1,692,753  
Ending balance     4,017,011 2,806,953 1,692,753
Number of Options          
Beginning balance     6,354,308 6,664,173  
Ending balance     7,006,250 6,354,308 6,664,173
2014 Plan          
Stock Option Plans          
Vesting period   4 years      
Maximum exercise term   10 years      
Exercise price of common stock of its fair value (as a percent)   100.00%      
Shares available for future option grants 0        
Maximum number of options that may be re-issued under the 2016 plan 1,136,229        
Shares Available for Grant          
Ending balance 0        
2016 Plan          
Stock Option Plans          
Vesting period 4 years        
Maximum exercise term 10 years        
Exercise price of common stock of its fair value (as a percent) 100.00%        
Shares available for future option grants     4,017,011 2,806,953  
Shares Available for Grant          
Beginning balance     2,806,953    
Additional shares authorized     1,862,000    
Granted     (1,706,400)    
Forfeited     1,054,458    
Ending balance     4,017,011 2,806,953  
Number of Options          
Beginning balance     6,354,308    
Granted     1,706,400    
Forfeited     (1,054,458)    
Ending balance     7,006,250 6,354,308  
Weighted-Average Exercise Price          
Beginning balance (in dollars per share)     $ 6.80    
Granted (in dollars per share)     1.02    
Forfeited (in dollars per share)     7.75    
Ending balance (in dollars per share)     $ 5.25 $ 6.80