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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

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