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Stockholders' Equity - Shares Reserved for Future Issuance (Details) - shares | Dec. 31, 2022 | Dec. 31, 2021 | Sep. 30, 2020
--- | --- | --- | ---
Class of Stock [Line Items] |  |  |
Shares reserved for future issuance (in shares) | 8,471,816 | 7,271,132 |
Common stock options issued and outstanding |  |  |
Class of Stock [Line Items] |  |  |
Shares reserved for future issuance (in shares) | 2,495,528 | 2,145,131 |
Common stock restricted stock units issued and outstanding |  |  |
Class of Stock [Line Items] |  |  |
Shares reserved for future issuance (in shares) | 998,473 | 442,428 |
Common stock available for future grants |  |  |
Class of Stock [Line Items] |  |  |
Shares reserved for future issuance (in shares) | 3,765,706 | 3,751,115 |
Common stock available for ESPP |  |  |
Class of Stock [Line Items] |  |  |
Shares reserved for future issuance (in shares) | 1,212,109 | 932,458 | 720,000

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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 https://asc.fasb.org/extlink&oid=120391452&loc=d3e13212-122682 + Details
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