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Stockholders' Equity (Deficit) (Tables)
12 Months Ended
Dec. 31, 2020
Equity [Abstract]  
Reserved Common Stock for Future Issuances
At December 31, 2020 and 2019, the Company had reserved common stock for future issuances as follows:
December 31,
20202019
Exercise of options under stock plan4,237,828 4,310,790 
Issuance of options and restricted stock units under stock plan1,790,687 1,554,690 
Issuance of common stock under employee stock purchase plan632,377 372,352 
6,660,892 6,237,832