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Equity - Shares of Common Stock Reserved for Future Issuance (Details) - shares
Jun. 30, 2023
Dec. 31, 2022
Class of Stock [Line Items]    
Shares of common stock reserved for future issuance (in shares) 5,557,259 4,610,921
Stock Options Issued And Outstanding    
Class of Stock [Line Items]    
Shares of common stock reserved for future issuance (in shares) 3,890,135 2,796,241
Stock Options Authorized For Future Issuance    
Class of Stock [Line Items]    
Shares of common stock reserved for future issuance (in shares) 1,309,892 1,627,680
ESPP, Authorized for Future Issuance    
Class of Stock [Line Items]    
Shares of common stock reserved for future issuance (in shares) 357,232 187,000