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Stockholders' Equity - Schedule of Common Stock Shares Reserved for Future Issuance (Details) - shares
Sep. 30, 2023
Dec. 31, 2022
Class Of Stock [Line Items]    
Shares of common stock reserved for future issuance 7,679,133 6,730,269
Stock Options Outstanding    
Class Of Stock [Line Items]    
Shares of common stock reserved for future issuance 4,662,721 5,742,053
Shares Available for Future Grant Under Incentive Plan    
Class Of Stock [Line Items]    
Shares of common stock reserved for future issuance 3,016,412 988,216