Annual report pursuant to Section 13 and 15(d)

Equity Incentive Plans, Equity Inducement Plans, Employee Stock Purchase Plan and Stock-Based Compensation - Summary of Status and Activity of Non-vested RSUs (Details)

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Equity Incentive Plans, Equity Inducement Plans, Employee Stock Purchase Plan and Stock-Based Compensation - Summary of Status and Activity of Non-vested RSUs (Details) - Restricted Stock Units
12 Months Ended
Dec. 31, 2022
$ / shares
shares
Number of shares  
Non-vested, Beginning Balance | shares 2,403,826
Granted | shares 2,688,000
Released | shares (620,647)
Canceled | shares (512,701)
Non-vested, Ending Balance | shares 3,958,478
Weighted Average Grant-Date Fair Value  
Non-vested, Beginning balance | $ / shares $ 18.43
Granted | $ / shares 7.62
Released | $ / shares 17.80
Canceled | $ / shares 14.44
Non-vested, Ending Balance | $ / shares $ 11.70