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Stockholders Equity - Schedule of Common Stock Reserved for Future Issuance (Details)
Dec. 31, 2022
shares
Equity [Abstract]  
Stock options issued and outstanding 11,861,881
Restricted stock units issued and outstanding 2,614,402
Authorized for future options and award grants 4,188,473
Authorized for future issuance under Employee Stock Purchase Plan 1,450,822
Total 20,115,578