Quarterly report pursuant to Section 13 or 15(d)

Equity Incentive Plans, Equity Inducement Plans, Employee Stock Purchase Plan and Stock-Based Compensation - Summary of Option Activity (Details)

v3.23.2
Equity Incentive Plans, Equity Inducement Plans, Employee Stock Purchase Plan and Stock-Based Compensation - Summary of Option Activity (Details) - 2004 Plan, 2018 Plan and 2021 Plan
 6 Months Ended
Jun. 30, 2023
$ / shares
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Stock options outstanding, Beginning Balance, Shares | shares 7,310,611
Granted, Shares | shares 1,368,000
Exercised, Shares | shares (53,060)
Canceled and forfeited, Shares | shares (273,892)
Stock options outstanding, Ending Balance, Shares | shares 8,351,659
Stock options exercisable, Shares | shares 5,735,042
Stock options outstanding, Weighted - Average Exercise Price, Beginning Balance | $ / shares $ 12.68
Weighted - Average Exercise Price, Granted | $ / shares 5.66
Weighted - Average Exercise Price, Exercised | $ / shares 5.92
Weighted - Average Exercise Price, Canceled and forfeited | $ / shares 11.24
Stock options outstanding, Weighted - Average Exercise Price, Ending Balance | $ / shares 11.62
Stock options exercisable, Weighted - Average Exercise Price, Exercisable | $ / shares $ 12.83