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Net Loss Per Common Share (Details) - shares
3 Months Ended
Mar. 31, 2022
Mar. 31, 2021
Outstanding shares of common stock equivalents that have been excluded from diluted net loss per common share    
Shares of common stock subject to outstanding options (in shares) 5,293,818 4,847,191
Shares of common stock subject to outstanding options    
Outstanding shares of common stock equivalents that have been excluded from diluted net loss per common share    
Shares of common stock subject to outstanding options (in shares) 3,703,656 3,944,887
Employee stock purchase plan    
Outstanding shares of common stock equivalents that have been excluded from diluted net loss per common share    
Shares of common stock subject to outstanding options (in shares) 30,622 15,720
Restricted stock units    
Outstanding shares of common stock equivalents that have been excluded from diluted net loss per common share    
Shares of common stock subject to outstanding options (in shares) 1,559,540 886,584