Quarterly report pursuant to Section 13 or 15(d)

Net Loss Per Share Attributable to Common Stockholders - Schedule of Anti-dilutive Outstanding Shares or Equivalents (Details)

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Net Loss Per Share Attributable to Common Stockholders - Schedule of Anti-dilutive Outstanding Shares or Equivalents (Details) - shares
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]        
Anti-dilutive outstanding shares or equivalents 10,584,765 11,578,358 10,584,765 11,578,358
Options To Purchase Common Stock        
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]        
Anti-dilutive outstanding shares or equivalents 9,005,490 7,661,716 9,005,490 7,661,716
Common Stock Subject To Vesting Or Repurchase        
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]        
Anti-dilutive outstanding shares or equivalents 1,519,027 3,774,117 1,519,027 3,774,117
Employee Stock Purchase Plan shares        
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]        
Anti-dilutive outstanding shares or equivalents 60,248 142,525 60,248 142,525