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Stockholders' Equity (Details) - shares
Sep. 30, 2022
Dec. 31, 2021
Class of Stock [Line Items]    
Total number of shares reserved for issuance (in shares) 13,027,173 10,800,658
Shares of common stock subject to outstanding options    
Class of Stock [Line Items]    
Options issued and outstanding (in shares) 6,502,656 4,892,164
Shares available for issuance (in shares) 5,189,164 4,418,364
Employee stock purchase plan    
Class of Stock [Line Items]    
Shares available for issuance (in shares) 1,335,353 1,490,130