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Stockholders' Equity (Tables) | 9 Months Ended
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Sep. 30, 2023
Stockholders' Equity Note [Abstract] |
Schedule of Common Stock Reserved for Future Issuance | The Company has reserved common stock, on an if-converted basis, for issuance as follows:
|  | September 30, |  |  | December 31, |
|  | 2023 |  |  | 2022 |
Common stock options issued and outstanding |  |  | 7,920,561 |  |  |  | 7,310,611 |
Common stock awards issued and outstanding |  |  | 5,213,248 |  |  |  | 3,958,478 |
Remaining shares reserved for issuance under 2018 Equity Incentive Plan and 2021 Equity Inducement Plan |  |  | 1,903,250 |  |  |  | 1,541,706 |
Shares reserved for issuance under 2018 Employee Stock Purchase Plan |  |  | 914,911 |  |  |  | 865,995 |
Warrants to purchase common stock |  |  | 127,616 |  |  |  | 127,616 |
Total |  |  | 16,079,586 |  |  |  | 13,804,406 |

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