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Common Stock (Tables)
 3 Months Ended
Mar. 31, 2024
Equity [Abstract]  
Schedule of Shares Reserved for Future Issuance
Shares reserved for future issuance at March 31, 2024 are as follows:
 Number of
Shares
Common stock reserved for issuance for:
2021 Employee stock purchase plan1,000,011 
Pre-funded stock warrants11,193,564 
Outstanding stock options10,318,323 
     Shares reserved for tranche 2 rights46,620,046 
     Maximum shares reserved for tranche 3 rights46,620,046 
Common stock options available for future grant:
2014 Equity Incentive Plan43,311 
2017 Inducement Equity Incentive Plan46,250 
2019 Omnibus Equity Incentive Plan9,131,506 
Total common shares reserved for future issuance124,973,057