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Stockholder's Equity (Tables) | 3 Months Ended
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Mar. 31, 2024
Stockholders' Equity Note [Abstract] |
Schedule of Common Stock Reserved for Future Issuance | The Company reserved the following shares of common stock for issuance as follows:
|  | March 31, 2024 |  |  | December 31, 2023 |
Stock options issued and outstanding |  |  | 11,859,362 |  |  |  | 9,208,970 |
Stock options reserved for 2020 Incentive Award Plan |  |  | 1,762,992 |  |  |  | 1,988,340 |
Unvested restricted stock units outstanding |  |  | 915,861 |  |  |  | 495,579 |
Common stock reserved for 2021 ATM program |  |  | 25,980,123 |  |  |  | 2,619,471 |
Common stock reserved for 2024 ATM program |  |  | 25,000,000 |  |  |  | — |
Common stock reserved for Employee Stock Purchase Plan |  |  | 2,122,071 |  |  |  | 1,338,381 |
Common stock reserved for 2022 Employment Inducement Award Plan |  |  | 1,667,300 |  |  |  | 758,084 |
Common stock reserved for pre-funded warrants |  |  | 35,248,479 |  |  |  | 40,493,510 |
Common stock reserved for common warrants |  |  | 8,427,508 |  |  |  | 8,427,508 |
Total common stock reserved |  |  | 112,983,696 |  |  |  | 65,329,843 |

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