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Convertible Preferred Stock and Stockholders' Equity - Schedule of Reserved Shares of Common Stock for Issuance, on an As-Converted Basis (Details) - shares
Dec. 31, 2023
Dec. 31, 2022
Class of Stock [Line Items]    
Reserved shares of common stock for issuance 5,540,696 4,469,296
Stock Options Issued and Outstanding    
Class of Stock [Line Items]    
Reserved shares of common stock for issuance 4,233,203 3,341,834
Authorized for Future Stock Awards or Option Grants    
Class of Stock [Line Items]    
Reserved shares of common stock for issuance 1,091,187 901,462
Authorized for Future Issuance under Employee Stock Purchase Plan    
Class of Stock [Line Items]    
Reserved shares of common stock for issuance 216,306 226,000