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Basic and Diluted Net Loss Per Common Share - Schedule of Potentially Dilutive Shares Excluded from Computation of Diluted Net Loss per Common Share (Details) - shares
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Potentially dilutive securities excluded from computation of diluted net loss per share 10,425,299 6,865,767
Options To Purchase Common Stock    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Potentially dilutive securities excluded from computation of diluted net loss per share 7,774,911 5,141,353
Unvested RSUs    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Potentially dilutive securities excluded from computation of diluted net loss per share 2,197,008 1,643,609
ESPP    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Potentially dilutive securities excluded from computation of diluted net loss per share 453,380 80,805