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Stock-Based Compensation - Assumptions used to Estimate the Fair Value of Stock Options Granted (Details)
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Stock Options Granted    
Employee Service Share Based Compensation Allocation of Recognized Period Costs [Line Items]    
Expected term (in years) 6 years 10 days 6 years 7 days
Expected volatility 105.00% 99.00%
Risk-free interest 3.88% 4.06%
Dividend yield 0.00% 0.00%
2016 ESPP    
Employee Service Share Based Compensation Allocation of Recognized Period Costs [Line Items]    
Expected term (in years) 6 months 5 months 26 days
Expected volatility 98.00% 181.00%
Risk-free interest 5.31% 4.99%
Dividend yield 0.00% 0.00%