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Stockholders' Equity - Summary of Common Stock Reserved for Future Issuance (Details) - shares | Jun. 30, 2023 | Oct. 31, 2019
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Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |
Common stock reserved for future issuance (in shares) | 10,626,008 |
Common stock warrants |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |
Common stock reserved for future issuance (in shares) | 91,228 |
Stock Option Performance Based Awards Outstanding |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |
Common stock reserved for future issuance (in shares) | 8,965,607 |
2019 Incentive Award Plan |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |
Common stock reserved for future issuance (in shares) | 520,803 |
ESPP Plan |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |
Common stock reserved for future issuance (in shares) | 1,048,370 | 270,000

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- Definition Aggregate number of common shares reserved for future issuance. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02.29) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480566/210-10-S99-1 + Details
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