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Stock-Based Compensation - Weighted-Average Assumptions Used in Calculating Fair Value of Awards (Details)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Employee Service Share Based Compensation Allocation of Recognized Period Costs [Line Items]      
Dividend yield 0.00% 0.00% 0.00%
Stock Options      
Employee Service Share Based Compensation Allocation of Recognized Period Costs [Line Items]      
Expected term (in years) 5 years 10 months 17 days 6 years 5 years 11 months 26 days
Expected volatility 107.00% 84.00% 83.00%
Risk-free interest 4.37% 2.93% 0.88%
Dividend yield 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) 5 months 26 days 5 months 26 days 6 months
Expected volatility 181.00% 84.00% 86.00%
Risk-free interest 4.99% 1.95% 0.08%
Dividend yield 0.00% 0.00% 0.00%