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Stockholders' Equity (Tables)
12 Months Ended
Dec. 31, 2023
Equity [Abstract]  
Schedule of Reserved Shares of Common Stock for Issuance
As of December 31, 2023 and 2022, the Company had reserved shares of common stock for issuance as follows:
 December 31,
 20232022
Stock options and restricted stock units issued and outstanding6,318,389 5,881,906 
Stock options and restricted stock units available for grant under stock option plans5,194,399 5,591,977 
Common stock available for the Employee Stock Purchase Plan1,189,513 1,335,353 
Total12,702,301 12,809,236