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Common Stock (Tables)
 9 Months Ended
Sep. 30, 2023
Equity [Abstract]  
Shares Reserved for Future Issuance Shares reserved for future issuance at September 30, 2023 are as follows:
 Number of
Shares
Common stock reserved for issuance for:
     2021 Employee stock Purchase Plan 32,358 
Outstanding stock options6,263,910 
Common stock options available for future grant:
2014 Equity Incentive Plan43,311 
2017 Inducement Equity Incentive Plan46,250 
2019 Omnibus Equity Incentive Plan4,085,919 
Total common shares reserved for future issuance10,471,748