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Liabilities, Convertible Preferred Stock and Stockholders' (Deficit) Equity - Summary of Pre-funded Warrants for Common Stock Issued and Outstanding (Details) - $ / shares
6 Months Ended
Jun. 30, 2023
May 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Exercise Price   $ 0.0001
Pre-funded Warrants    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of Warrants Outstanding 13,281,250  
Pre-funded Warrants | February 8, 2019    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Issue Date Feb. 08, 2019  
Expiration Date None  
Exercise Price $ 0.0001  
Number of Warrants Outstanding 0  
Pre-funded Warrants | April 30, 2020    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Issue Date Apr. 30, 2020  
Expiration Date None  
Exercise Price $ 0.0001  
Number of Warrants Outstanding 0  
Pre-funded Warrants | May 20, 2022    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Issue Date May 20, 2022  
Expiration Date None  
Exercise Price $ 0.0001  
Number of Warrants Outstanding 13,281,250