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Stockholders' Equity (Details) - shares
Jun. 30, 2023
Dec. 31, 2022
Class of Stock [Line Items]    
Total number of shares reserved for issuance (in shares) 13,360,040 12,809,236
Shares of common stock subject to outstanding options    
Class of Stock [Line Items]    
Options issued and outstanding (in shares) 6,860,444 5,881,906
Shares available for issuance (in shares) 5,256,642 5,591,977
Employee stock purchase plan    
Class of Stock [Line Items]    
Shares available for issuance (in shares) 1,242,954 1,335,353