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Employee Stock Purchase Plan - Additional Information (Details) - shares
1 Months Ended
Sep. 20, 2019
Jul. 31, 2023
Jan. 31, 2023
Jan. 31, 2022
Sep. 30, 2023
Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Shares of common stock reserved for future issuance         7,679,133 6,730,269
2019 Employee Stock Purchase Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Percentage of eligible employee compensation 15.00%          
Period for automatic increase in common available for future issuance 10 years          
Percentage of shares issued from outstanding number of shares 1.00%          
Shares issued   6,329 24,754 31,832    
Shares of common stock reserved for future issuance         1,547,065