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Common Stock and Preferred Stock (Tables)
 12 Months Ended
Dec. 31, 2023
Equity [Abstract]  
Schedule of Shares Reserved for Future Issuance under equity compensation plans
The Company has reserved the following shares of common stock for future issuance under equity compensation plans at December 31:
20232022
Exercise of outstanding stock options5,414,3605,028,850
Vesting of outstanding restricted stock
1,268,461463,964
Future awards under the 2021 Stock Option and Incentive Plan
1,697,8321,976,758
Future awards under the 2021 Employee Stock Purchase Plan
839,539563,115
Total shares of authorized common stock reserved for future issuance9,220,1928,032,687