Stock-Based Compensation Expense - Common stock reserved for future issuance (Details) - shares	Jun. 30, 2024	Dec. 31, 2023
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Shares of common stock reserved	8,385,548	8,364,218
Restricted Stock Units
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Shares of common stock reserved	649,988	650,357
Stock options issued and outstanding under the 2006, 2015 and 2021 plans
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Shares of common stock reserved	6,244,801	6,777,404
Shares Available For Future Issuance Under The 2006 ,2015 And 2021 Plans [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Shares of common stock reserved	951,817	358,610
The 2021 ESPP Plan [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Shares of common stock reserved	538,942	577,847