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Liabilities, Convertible Preferred Stock and Stockholders' (Deficit) Equity - Schedule of Estimate Fair Value of Stock Options Granted (Details)
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
2016 Equity Incentive Plan        
Employee Service Share Based Compensation Allocation of Recognized Period Costs [Line Items]        
Expected term (in years) 6 years 10 days 5 years 11 months 23 days 6 years 10 days 6 years 3 days
Expected volatility 117.00% 82.00% 115.00% 82.00%
Risk-free interest 3.98% 2.96% 3.99% 2.07%
Dividend yield 0.00% 0.00% 0.00% 0.00%
2016 Employee Stock Purchase Plan        
Employee Service Share Based Compensation Allocation of Recognized Period Costs [Line Items]        
Expected term (in years) 0 years 0 years 5 months 26 days 5 months 26 days
Expected volatility 0.00% 0.00% 181.00% 76.00%
Risk-free interest 0.00% 0.00% 4.99% 1.09%
Dividend yield 0.00% 0.00% 0.00% 0.00%