Annual report pursuant to Section 13 and 15(d)

Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details)

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Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares
Dec. 31, 2023
Dec. 31, 2022
Stockholders Equity [Line Items]    
Reserved common stock 15,970,351 13,804,406
Common Stock Options Issued and Outstanding    
Stockholders Equity [Line Items]    
Reserved common stock 7,905,032 7,310,611
Common Stock Awards Issued and Outstanding    
Stockholders Equity [Line Items]    
Reserved common stock 5,244,873 3,958,478
Remaining Shares Reserved for Issuance under 2018 Equity Incentive Plan and 2021 Equity Inducement Plan    
Stockholders Equity [Line Items]    
Reserved common stock 1,777,919 1,541,706
Shares Reserved for Issuance Under 2018 Employee Stock Purchase Plan    
Stockholders Equity [Line Items]    
Reserved common stock 914,911 865,995
Warrants to Purchase Common Stock    
Stockholders Equity [Line Items]    
Reserved common stock 127,616 127,616