Annual report pursuant to Section 13 and 15(d)

Income Taxes - Reconciliation of the Federal Statutory Income Tax Rate to the Effective Income Tax Rate (Details)

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Income Taxes - Reconciliation of the Federal Statutory Income Tax Rate to the Effective Income Tax Rate (Details)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Effective Income Tax Rate Reconciliation, Percent [Abstract]      
U.S. Statutory rate 21.00% 21.00% 21.00%
State income taxes, net of federal benefit 3.53% (1.39%) (3.86%)
Stock-based compensation (1.02%) (21.72%) (16.80%)
R&D credit, net of reserve 1.32% (5.95%) (8.11%)
Change in fair value 3.88% (28.19%) (4.19%)
Nondeductible compensation (1.50%) 7.04%  
Valuation allowance (27.75%) 201.69%  
Other (0.07%) 0.63% 1.57%
Effective income tax rate (0.61%) 173.11% (10.39%)