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Stockholders' Equity (Details) - shares | Mar. 31, 2023 | Dec. 31, 2022
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Class of Stock [Line Items] |  |
Total number of shares reserved for issuance (in shares) | 13,620,056 | 12,809,236
Shares of common stock subject to outstanding options |  |
Class of Stock [Line Items] |  |
Options issued and outstanding (in shares) | 7,054,474 | 5,881,906
Shares available for issuance (in shares) | 5,322,628 | 5,591,977
Employee stock purchase plan |  |
Class of Stock [Line Items] |  |
Shares available for issuance (in shares) | 1,242,954 | 1,335,353

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