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Stockholders' Equity (Tables)
3 Months Ended
Mar. 31, 2024
Equity [Abstract]  
Schedule of Common Stock Shares Reserved for Future Issuance
Common stock reserved for future issuance under the 2020 Equity Incentive Plan (the “2020 Plan”) and the 2014 Equity Incentive Plan (the “2014 Plan”) was as follows, and excludes 29,638 shares issued outside of the 2014 Plan and 2020 Plan:
 March 31,
2024
December 31,
2023
Options issued and outstanding10,097,6959,314,836
Restricted stock units outstanding1,204,939753,462
Shares available for future stock option grants7,733,6516,065,150
Total19,036,28516,133,448