How do we "toddler-proof" an open stairway?

We have a "floating staircase." It has a handrail on one side and a wall on the other. The kick-space is open, leading to fears that a child's foot may slide through. The horizontal rails attached to the handrail are widely spaced enough for a little body to accidentally slip through. We like the open look and are looking for a aesthetically pleasing solution.

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