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Stockholders' Equity - Schedule of Reserved Common Stock for Future Issuances (Details) - shares | Dec. 31, 2023 | Dec. 31, 2022
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Common Stock, Capital Shares Reserved for Future Issuance | 15,222,954 | 13,159,736
Common stock options issued and outstanding |  |
Common Stock, Capital Shares Reserved for Future Issuance | 4,980,190 | 4,819,906
Common stock available for future grant |  |
Common Stock, Capital Shares Reserved for Future Issuance | 6,033,176 | 6,099,584
Restricted stock units outstanding |  |
Common Stock, Capital Shares Reserved for Future Issuance | 2,721,361 | 1,014,123
Shares available for future purchase under ESPP |  |
Common Stock, Capital Shares Reserved for Future Issuance | 1,488,227 | 1,226,123

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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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