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Consolidated Statements of Convertible Preferred Stock and Stockholders' Equity (Deficit) (Parenthetical) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
IPO      
Issuance of common stock, net of offering costs   $ 49,220  
At The Market Offering      
Issuance of common stock, net of offering costs $ 625    
Series B Convertible Preferred Stock      
Convertible preferred stock, issuance costs     $ 33