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Common Stock - Schedule of Number of Shares of Common Stock Reserved for Future Issuance (Details) - shares | Jun. 30, 2021 | Dec. 31, 2020
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Class Of Stock [Line Items] |  |
Number of shares of common stock reserved for future issuance | 7,520,950 | 5,672,757
Stock Options Available for Future Grant |  |
Class Of Stock [Line Items] |  |
Number of shares of common stock reserved for future issuance | 2,853,833 | 1,739,621
Options Issued and Outstanding |  |
Class Of Stock [Line Items] |  |
Number of shares of common stock reserved for future issuance | 4,446,227 | 3,706,945
Common Stock Warrants |  |
Class Of Stock [Line Items] |  |
Number of shares of common stock reserved for future issuance | 220,890 | 226,191

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- Definition Aggregate number of common shares reserved for future issuance. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02.29) -URI http://asc.fasb.org/extlink&oid=120391452&loc=d3e13212-122682 + Details
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