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Common Stock (Details) - shares
Sep. 30, 2021
Dec. 31, 2020
Common Stock    
Common stock shares reserved for conversion 20,375,329 17,317,608
Convertible preferred stock (as converted)    
Common Stock    
Common stock shares reserved for conversion 15,906,537 12,528,612
Options issued and outstanding    
Common Stock    
Common stock shares reserved for conversion 4,318,992 4,587,865
Warrants for common stock    
Common Stock    
Common stock shares reserved for conversion 149,800 201,131