Stockholders Equity (Deficit) (Tables)

12 Months Ended

Dec. 31, 2023

Equity [Abstract]

Summary of Common Stock Reserved For Future Issuance

Common stock reserved for future issuance consisted of the following:

	December 31, 2023		December 31, 2022
Stock options issued and outstanding under the Equity Plans		6,777,404		6,339,558
Shares available for future issuance under the Equity Plans		358,610		865,122
Restricted stock units issued under the 2021 Plan		650,357		492,862
Shares available for future issuance under 2021 ESPP		577,847		664,976
Shares available for future sale under the ATM offering (1)(2)		—		3,454,064
Total shares of common stock reserved		8,364,218		11,816,582

(1) The ATM offering was completed in July 2023.

(2) The December 31, 2022 shares available for issuance were calculated based on the closing stock price of $12.67 as reported on the Nasdaq Global Market on December 30, 2022.