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Summary of Significant Accounting Policies (Tables)
 12 Months Ended
Dec. 31, 2023
Accounting Policies [Abstract]  
Schedule of Potentially Dilutive Securities not Included in Calculation of Diluted Net Loss Per Share/Unit
Common stock equivalent securities not included in the calculation of diluted net loss per share, because to do so would be anti-dilutive, are as follows (in common stock equivalent shares; in thousands):
December 31,
202320222021
Common stock options issued and outstanding12,495 9,352 5,778 
Restricted stock units758 — — 
Performance stock units750 — — 
ESPP shares pending issuance12 5 3 
Total14,015 9,357 5,781