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Stockholders’ Deficit - Schedule of Common Stock Reserved for Future Issuance (Details) - shares
Sep. 30, 2023
Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Stock options outstanding (in shares) 4,383,626 3,999,933
Shares available for issuance under the 2018 Equity Incentive plan (in shares) 8,512,215 7,848,832
Total common stock reserved for future issuance (in shares) 25,478,695 23,488,893
Equity Incentive Compensation Shares    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Stock options outstanding (in shares) 5,783,535 4,993,246
2018 Equity Incentive Plan    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Shares available for issuance under the 2018 Equity Incentive plan (in shares) 8,512,215 7,848,832
Employee Stock Purchase Plan    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Shares available for issuance under the 2018 Equity Incentive plan (in shares) 2,948,715 2,412,585
Notes    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Shares available for issuance under the 2018 Equity Incentive plan (in shares) 8,234,230 8,234,230