Common Stock - Schedule of Common Stock Reserved for Future Issuance (Details) - shares	Dec. 31, 2023	Jan. 01, 2023	Jan. 01, 2022
Class Of Stock [Line Items]
Common stock reserved for issuance	11,971,397
Common Stock Options Issued and Outstanding
Class Of Stock [Line Items]
Common stock reserved for issuance	10,706,541
Common Stock Restricted Stock Awards Issued and Outstanding
Class Of Stock [Line Items]
Common stock reserved for issuance	52,533
Common Stock Available for Future Issuance under 2021 Plan
Class Of Stock [Line Items]
Common stock reserved for issuance	638,430	1,889,895	1,869,984
Common Stock Available for Future Issuance under ESPP
Class Of Stock [Line Items]
Common stock reserved for issuance	573,893	377,979