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Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares | Sep. 30, 2025 | Dec. 31, 2024
--- | --- | ---
Class Of Stock [Line Items] |  |
Common stock reserved | 19,381,754 | 14,594,720
Common stock reserved | 1,053,719 |
Common stock reserved | 92,216,910 | 93,715,852
Employee Stock Option [Member] |  |
Class Of Stock [Line Items] |  |
Common stock reserved | 19,381,754 | 14,594,720
Stock Options Reserved for 2020 Incentive Award Plan [Member] |  |
Class Of Stock [Line Items] |  |
Common stock reserved | 1,053,719 | 2,109,758
Unvested Restricted Stock Units Outstanding [Member] |  |
Class Of Stock [Line Items] |  |
Common stock reserved | 1,308,942 | 770,028
Common Stock Reserved for Employee Stock Purchase Plan [Member] |  |
Class Of Stock [Line Items] |  |
Common stock reserved | 2,959,996 | 1,983,924
2022 Employment Inducement Award Plan [Member] |  |
Class Of Stock [Line Items] |  |
Common stock reserved | 3,077,259 | 3,359,230
Pre-Funded Warrants [Member] |  |
Class Of Stock [Line Items] |  |
Common stock reserved | 38,543,577 | 38,543,577
Common Warrants [Member] |  |
Class Of Stock [Line Items] |  |
Common stock reserved | 6,877,622 | 8,104,615
2024 ATM Program [Member] |  |
Class Of Stock [Line Items] |  |
Common stock reserved | 19,014,041 | 24,250,000

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