Stockholders Equity (Deficit) - Summary of Common Stock Reserved For Future Issuance (Details) - shares		Dec. 31, 2023	Dec. 31, 2022
Class Of Stock [Line Items]
Conversion of preferred stock		8,364,218	11,816,582
Restricted Stock Units (RSUs) [Member]
Class Of Stock [Line Items]
Conversion of preferred stock		650,357	492,862
The 2021 ESPP Plan [Member]
Class Of Stock [Line Items]
Conversion of preferred stock		577,847	664,976
Stock options issued and outstanding under the Equity Plans
Class Of Stock [Line Items]
Conversion of preferred stock		6,777,404	6,339,558
Shares available for future issuance under the Equity Plans
Class Of Stock [Line Items]
Conversion of preferred stock		358,610	865,122
Shares available for future sale under the ATM offering [Member]
Class Of Stock [Line Items]
Conversion of preferred stock	[1]	0	3,454,064

[1] (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.