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Stock-Based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Item]      
Weighted-average grant date fair value of options issued     $ 13.63
Vesting period 4 years    
Exercise of common stock options, Shares 1,369,588 664,643 1,503,456
2021 ESPP [Member]      
Share Based Compensation Arrangement By Share Based Payment Award [Line Item]      
Unrecognized compensation expense $ 0.7    
Shares issued under employee stock purchase plan 296,011    
Common Stock [Member]      
Share Based Compensation Arrangement By Share Based Payment Award [Line Item]      
Weighted average period of recognized term 10 months 24 days    
Common stock, capital shares reserved for future issuance 22,224,109    
Exercise of common stock options, Shares     375,971
Common Stock [Member] | 2021 ESPP [Member]      
Share Based Compensation Arrangement By Share Based Payment Award [Line Item]      
Common stock, capital shares reserved for future issuance 5,362,208    
Fair market value 85.00%    
Restricted Stock Units And Common Stock Option [Member]      
Share Based Compensation Arrangement By Share Based Payment Award [Line Item]      
Grant date fair value of shares vested from restricted stock awards $ 93.6    
RSU      
Share Based Compensation Arrangement By Share Based Payment Award [Line Item]      
Weighted average period of recognized term   2 years 4 months 24 days  
Weighted-Average Grant-Date Fair Value, Granted $ 14.04 $ 10.49 $ 21.32