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Stock-Based Compensation - Equity Incentive Plans (Details) - shares
12 Months Ended
Jul. 26, 2013
Dec. 31, 2021
Mar. 04, 2022
Dec. 31, 2020
Class of Stock        
Common stock, shares reserved for future issuance   23,918,172 14,906,278  
Common stock options outstanding   5,202,006   4,614,323
Options outstanding under earlier plans   155,968    
Grant of inducement stock option   325,000    
2013 Stock Incentive Plan [Member]        
Class of Stock        
Common shares available for grant 5,653,057 199,873    
Maximum number of additional common shares 868,372      
Common stock options outstanding   4,721,038    
Restricted stock units outstanding   575,703