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Basic and Diluted Net Loss per Share - Antidilutive Securities (Details) - shares
3 Months Ended 6 Months Ended
Jun. 30, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]        
Total potentially dilutive common share equivalents 11,712,205 8,014,879 11,712,205 8,014,879
Options to purchase common stock        
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]        
Total potentially dilutive common share equivalents 11,650,794 8,014,879 11,650,794 8,014,879
Employee stock purchase plan        
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]        
Total potentially dilutive common share equivalents 61,411 0 61,411 0