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Common Stock - Schedule of Common Stock Shares Reserved for Future Issuance (Details) - 2020 Plan and 2014 Plan - shares
Sep. 30, 2023
Dec. 31, 2022
Class of Stock [Line Items]    
Common stock reserved for future issuances 16,365,963 12,851,858
Employee Stock Option    
Class of Stock [Line Items]    
Common stock reserved for future issuances 9,257,155 7,715,494
Restricted stock units outstanding    
Class of Stock [Line Items]    
Common stock reserved for future issuances 700,418 456,766
Shares Available for Future Stock Option Grants    
Class of Stock [Line Items]    
Common stock reserved for future issuances 6,408,390 4,679,598