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Liabilities, Convertible Preferred Stock and Stockholders' (Deficit) Equity - Assumptions used to Estimate the Fair Value of Stock Options Granted (Details)
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
2016 Plan        
Employee Service Share Based Compensation Allocation of Recognized Period Costs [Line Items]        
Expected term (in years) 6 years 29 days 6 years 7 days 6 years 14 days 5 years 11 months 15 days
Expected volatility 101.00% 85.00% 111.00% 83.00%
Risk-free interest 4.28% 3.16% 4.07% 2.43%
Dividend yield 0.00% 0.00% 0.00% 0.00%
2016 ESPP        
Employee Service Share Based Compensation Allocation of Recognized Period Costs [Line Items]        
Expected term (in years) 6 months 6 months 5 months 26 days 5 months 26 days
Expected volatility 222.00% 95.00% 181.00% 84.00%
Risk-free interest 5.29% 3.26% 4.99% 1.95%
Dividend yield 0.00% 0.00% 0.00% 0.00%