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Stock-based Compensation - Summary of Common Stock Reserved for Future Issuance (Details) - shares
Sep. 30, 2023
Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Common stock reserved for future issuance 42,803,420 34,381,274
Stock Options Issued and Outstanding    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Common stock reserved for future issuance 25,382,517 17,393,396
Awards Available for Future Grant    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Common stock reserved for future issuance 15,174,985 16,022,747
Shares Available for Purchase Under ESPP    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Common stock reserved for future issuance 2,245,918 965,131