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Net Loss Per Common Share (Details) - shares
3 Months Ended 9 Months Ended
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 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) 6,196,674 4,929,512 5,871,906 4,845,503
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) 4,043,274 3,668,179 3,902,116 3,817,351
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) 39,177 14,445 40,094 16,686
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) 2,114,223 1,246,888 1,929,696 1,011,466