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Stockholders' Equity (Details) - shares
Mar. 31, 2024
Dec. 31, 2023
Class of Stock [Line Items]    
Total number of shares reserved for issuance (in shares) 12,145,610 12,702,301
Shares of common stock subject to outstanding options    
Class of Stock [Line Items]    
Stock options and restricted stock units issued and outstanding (in shares) 7,187,609 6,318,389
Shares available for issuance (in shares) 3,848,279 5,194,399
Common stock available for the Employee Stock Purchase Plan    
Class of Stock [Line Items]    
Shares available for issuance (in shares) 1,109,722 1,189,513