Stockholders’ Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares	Mar. 31, 2024	Dec. 31, 2023
Class of Stock [Line Items]
Options issued and outstanding (in shares)	12,933,875	13,249,983
Total shares of common stock reserved for future issuance (in shares)	47,553,207	40,567,495
2015 Equity Incentive Plan
Class of Stock [Line Items]
Options issued and outstanding (in shares)	7,889,983	8,206,091
Shares available for future grants (in shares)	0	0
2021 Equity Incentive Plan
Class of Stock [Line Items]
Options issued and outstanding (in shares)	5,043,892	5,043,892
Shares available for future grants (in shares)	16,104,869	11,291,364
2021 Equity Incentive Plan | Restricted stock units
Class of Stock [Line Items]
Stock unit outstanding (in shares)	10,546,602	525,108
2021 Equity Incentive Plan | PSUs
Class of Stock [Line Items]
Stock unit outstanding (in shares)	1,179,965	10,264,090
2021 Employee Stock Purchase Plan
Class of Stock [Line Items]
Shares available for future grants (in shares)	6,787,896	5,236,950