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Stockholders' Equity - Schedule of Common Stock Shares Reserved for Future Issuance (Details) - shares
Jun. 30, 2023
Dec. 31, 2022
Class Of Stock [Line Items]    
Shares of common stock reserved for future issuance 7,464,133 6,730,269
Stock Options Outstanding    
Class Of Stock [Line Items]    
Shares of common stock reserved for future issuance 4,739,486 5,742,053
Shares Available for Future Grant Under Stock Option Plan    
Class Of Stock [Line Items]    
Shares of common stock reserved for future issuance 2,724,647 988,216