Annual report pursuant to Section 13 and 15(d)

Net Loss Per Share - Antidilutive Securities (Details)

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Net Loss Per Share - Antidilutive Securities (Details) - shares
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Antidilutive securities (in shares) 9,469,482 12,717,275 7,914,236
Options to purchase common stock      
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Antidilutive securities (in shares) 1,840,735 4,185,876 7,574,136
Number of shares issuable from ESPP      
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Antidilutive securities (in shares) 123,899 253,038 169,025
Restricted stock units      
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Antidilutive securities (in shares) 7,504,848 8,278,361 171,075